Fluid transfer station in a robotic pharmaceutical preparation system

ABSTRACT

A robotic system and method are provided for transfer of fluid between a container accessible via a container-septum and a fluid transfer assembly accessible via a fluid transfer connector septum. The robotic system includes a controller and a manipulator controllable by the controller to manipulate at least one of the container and the fluid transfer assembly. The controller is configured to operate the manipulator to secure contact between the container-septum and the fluid transfer connector septum during at least a portion of the transfer of the fluid.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of United Sates Pat. ApplicationSerial No. 18/118,999, filed Mar. 8, 2023, which claims the benefit ofand priority to United States Provisional Pat. Applications Serial Nos.63/269,004 filed on Mar. 8, 2022, 63/382,014 filed on Nov. 2, 2022, and63/429,340 filed on Dec. 1, 2022, each of which are incorporated hereinby reference in its entirety.

TECHNOLOGICAL FIELD

The present application relates generally to robotic pharmaceuticalpreparation systems and more particularly to fluid transfer stationswithin a robotic pharmaceutical preparation system.

BACKGROUND

There are known automatic or semi-automatic preparation systems forpreparing drugs designated for administration to patients. These systemsinclude fluid transfer stations for transfer of fluid between a syringeand a vial or between a syringe and an intravenous (IV) bag. In closedfluid transfer systems deployed for preparation of hazardous drugs,measures are taken to prevent hazardous drug leakage from the syringe,the vial or IV bag. Therefore, the syringe, vial and IV bag are eachmounted to a connector (also referred to as an “adaptor” or “spikeadaptor”) comprising a septum so the transfer of the fluid is performedvia a syringe-septum and a vial-septum or via the syringe-septum and anIV bag-septum. In the prior art these connectors comprise rings orcasings to ensure alignment of the syringe-septum with the vial-septumor alignment of the syringe-septum with the IV bag-septum. These casingsfurther comprise fixing (i.e. securing) means to fixedly couple thesepta to each other, such as by screws or snaps or extensions whichextend along sides of the septa.

SUMMARY

The disclosed subject matter generally relates to robotic pharmaceuticalpreparation systems and more particularly to fluid transfer stationswithin a robotic pharmaceutical preparation system. The roboticpharmaceutical preparation systems and the fluid transfer stationsthereof are configured for performing the operations related to transferof drugs between different fluid transfer apparatuses includingcontainers, fluid transfer assemblies, connectors, conduits, pumps,syringes, vials, intravenous bags, adaptors, needles, etc. The roboticpharmaceutical preparation systems (or robotic systems) according to thedisclosed subject matter include robotic stations, robotic arms, motors,control units (controllers), mechanisms to control the transfer offluid, etc. It is to be understood herein that the examples described inthis description (with reference to the drawings and otherwise) havebeen described with reference to only a few components of the fluidtransfer apparatuses out of all which are encompassed by the scope ofthe present subject matter for the purposes of conciseness and clarityof the present description. Various examples analogous to thosedescribed herein with different components of the fluid transferapparatuses and with different robotic stations, including differentcombinations of the components of the fluid transfer apparatuses and therobotic stations, should be considered within the scope of the presentdescription.

For instance, the container is described herein with reference to a vialand/or an intravenous bag, and it is to be understood that the containercan be any other container being a component of a fluid transferapparatus with or without an adaptor or connector for establishing fluidcommunication of the container with other fluid transfer components. Forexample, the container can constitute a container assembly having thecontainer along with a container connector (or adaptor) for establishingthe fluid communication of the container with other components of thefluid transfer apparatus. For example, the container can be a vial alongwith a vial adaptor, or an intravenous bag along with a spike adaptor.The container can be accessible via a container septum which can be aseptum of the container lid or can be a part of the connector. In someexamples, the container can be a syringe, a fluid transfer pipe,conduit, etc.

Similarly, the fluid transfer assembly is described herein withreference to a syringe assembly including a syringe and a syringeconnector, and it is to be understood that that the fluid transferassembly can include analogous components for transfer of drugs. In someexamples, the fluid transfer assembly can include a pumping mechanismand a fluid transfer pipe configured to be connected to the containerfor the transfer of drug. In some examples, the fluid transfer assemblycan include a fluid transfer connector (or adaptor) for establishingfluid communication between a fluid transfer unit (a fluid transferpipe, conduit, pump, syringe, etc.) and the container. In some examples,the fluid transfer assembly may not include the fluid transfer connectorand the fluid transfer connecter can constitute a part of the roboticsystem operating the fluid transfer assembly. In some examples, thefluid transfer assembly can include a vial or an intravenous bag fortransfer of fluid with other containers.

Further, in all of the examples described herein, the transfer of fluidis described being performed by a needle penetrating the containerseptum into the container. It is to be understood herein that in someexamples the transfer of fluid can be performed without the needlepenetrating through the container septum, or optionally not penetratingeven though a septum of the fluid transfer connector (associated withthe fluid transfer assembly). In some examples, the fluid transfer canbe performed even without a needle and via a fluid transfer conduit bycontrolled pressure of the fluid. For instance, the fluid transferconduit may or may not include a needle, and if the fluid transferconduit includes a needle, the needle may penetrate both septa fully, ormay penetrate one septum fully and the other one partially, or maypenetrate one septum partially and not at all the other one, or may notpenetrate any septum at all.

The robotic system according to the presently disclosed subject matteris configured to handle and operate the containers and fluid transferassemblies according to all of the different examples thereof as notedabove to perform the transfer of fluid. For instance, although in all ofthe examples described herein, the robotic system is described as havinga manipulator configured to manipulate the fluid transfer assembly (morespecifically a syringe assembly), it is to be understood herein that therobotic system (and the manipulator) is configured to handle andmanipulate either or both of the container and the fluid transferassembly according to all of the examples thereof as noted above. Also,although in all of the examples described herein, the manipulator isdescribed as a robotic arm, it is to be understood herein that themanipulator can be a platform, a robotic station, or the like havingholders to hold the fluid transfer apparatus components and move themrelatively to each other and perform the transfer of fluid.

The following terms and their derivatives used throughout theapplication may be better understood in view of the explanations below:

A robotic system may comprise an automatic or partially automatic systemcomprising a manipulator controlled, at least partially by a controllerunit (also referred to as controller or control unit).

A manipulator may comprise a robotic arm, a platform, a robotic station,or a combination thereof configured for manipulating the containerand/or the fluid transfer assembly.

A controller or a controller unit may comprise a computer controllerconfigured to perform operations in accordance with a set ofinstructions stored on a memory readable by the controller, which may beexecuted by a central processing unit (CPU), one or more processors,processor units, microprocessors, etc. In another embodiment thecontroller or controller unit includes one or more control circuits. Insome examples, the control unit can include one or more mechanismcontrollers. The controller unit may comprise any means to controlelements in the robotic pharmaceutical preparation system and maycomprise at least any one of a controller, a synchronizing unit and aprocesser.

A robotic pharmaceutical preparation system comprises the robotic systemoperable for performing any activity related to preparation of drugsdesignated for administration to patients. It is noted that the term“robotic systems” used herein may include robotic pharmaceuticalpreparation systems.

The pharmaceutical preparation system may comprise any one or more of adilution station, namely a reconstitution station where any type of adilutant is added to a drug which is in solid and/or liquid form and/orany one or more of a filling station, namely a compounding station wherean at least partially or fully prepared drug is transferred into acontainer.

The terms “pharmaceutical” and “drug” are used interchangeably.

A needle may comprise a cannula or any other device configured forpenetrating a container and transferring fluid therethrough. The needlemay include a bevel at a distal tip thereof or an opening at a sidesurface or any other configuration.

A septum may generally refer to a membrane configured to close access toa part of a device to which it belongs. Generally, a septum on acontainer or container connector (also referred to as container-septum)may seal the container. A septum on a fluid transfer assembly (alsoreferred to as fluid transfer connector septum) may prevent or resistaccess to a fluid transfer conduit (for instance a needle according tothe examples described herein with reference to the drawings).Typically, a septum is made of a resilient pierceable material. Suchmaterial may be a polymer with elastic properties like rubber.

A longitudinal axis Lx 1 extends centrally along a length of a fluidtransfer assembly (FIG. 3B) and defines an injection axis.

A central longitudinal axis Lx 2 extends centrally along a length of acenter of a container (vial) positioned at a container holding module(interchangeably used herein with a container holder) 208. During thefluid transfer, the axis Lx 2 may align with axis Lx 1, as shown in FIG.3B.

A central longitudinal axis Lx 3 extends centrally along a length of acenter of a container (intravenous bag or IV bag) positioned at acontainer assembly holding module 214. During fluid transfer such asshown in FIG. 15A, the axis Lx 3 may align with axis Lx 1.

A vertical axis x 1 is generally parallel to the longitudinal axis Lx 1.Axial movement and axial displacement are generally performed parallelto the vertical axis x 1 (FIG. 3A).

A horizontal axis x 2 is orthogonal to the vertical axis x 1 andgenerally extends parallel to a length of a table of the fluid transferstation (e.g. table 220 in FIG. 3A).

A transverse axis x 3 is orthogonal to the vertical axis x 1 and thehorizontal axis x 2 (FIG. 3A).

A rotation axis r1 is parallel to vertical axis x 1 and rotationthereabout is shown by arrow r2 in FIG. 3A.

A front view generally refers to a view taken of a front plane spanningalong the vertical axis x 1 and the horizontal axis x 2, such as theview shown in FIG. 3A. A side view generally refers to a view taken of aside plane spanning along the vertical axis x 1 and the transverse axisx 3, such as the view shown in FIG. 4B. The cross-sectionalillustrations shown herein are mainly longitudinal cross-sectionalillustrations.

There is provided in accordance with first aspect of the presentlydisclosed subject matter, for example a robotic system operable fortransfer of fluid between a container accessible via a container-septumand a fluid transfer assembly accessible via a fluid transfer connectorseptum, the robotic system including a controller, and a manipulatorcontrollable by the controller to manipulate at least one of thecontainer and the fluid transfer syringe assembly, the controller beingconfigured to operate the manipulator to secure contact between thecontainer-septum and the fluid transfer connector septum during at leasta portion of the transfer of the fluid.

In some examples, the container can constitute a container assemblyincluding a container and a container connector, whereas in suchexamples, the container septum can constitute a part of the containerconnector. In some examples, the container connector can constitute apart of the robotic system. In some examples, the container septumconstitutes a part of the container and there is no container connector.

In some examples, the fluid transfer assembly can include the fluidtransfer connector. In some examples, the fluid transfer connector canconstitute a part of the robotic system. In some examples, the fluidtransfer assembly can include a fluid transfer unit. The fluid transferunit can be a tube, pipe, container, etc. connected to a pumpingmechanism operable to pump the fluid in and out of the fluid transferunit. The fluid transfer unit in some examples can be a syringe operableby a syringe plunger or by a pumping mechanism. In the presentdescription, the examples illustrated in the drawings and explained withrespect thereto have been described with reference to the fluid transferassembly as being a syringe assembly, i.e., including a syringe operableby a plunger, and the fluid transfer connector as being a syringeconnector. For the sake of conciseness of the present description, allother examples of the fluid transfer assembly (tubing sets, tubes,pipes, pumping mechanisms, etc.) and the operation of the robotic systemtherewith have not been described in detail, and should be considered asencompassed by the scope of the present description.

It is to be understood herein that securing contact between thecontainer-septum and the syringe-septum (the fluid transfer connectorseptum) may comprise at least one or more of the following: (i) pressingthe container-septum and the syringe-septum to a degree that at leastone of the container-septum and the syringe-septum are caused toelastically deform; (ii) pressing the container-septum and thesyringe-septum by at least a predetermined compression threshold forceand then maintaining or increasing that force during the transfer of thefluid. The deformation of at least one of the septa is intended to meanthat upon securing the contact between the septa, the total distancebetween the non-contacting surfaces of the septa is smaller than a sumof heights of the septa. For instance, the container septum includes afirst surface facing the syringe septum, an opposite second surface, anda lateral surface extending therebetween defining a height of thecontainer septum between the first and second surfaces. Similarly, thesyringe septum includes a first surface facing the container septum, anopposite second surface, and a lateral surface extending therebetweendefining a height of the syringe septum between the first and secondsurfaces. When the first surface of the container septum and the firstsurface of the syringe septum are brought in contact with each other andthe contact is secured by the manipulator, the distance between thesecond surface of the container septum and the second surface of thesyringe septum is smaller than the sum of heights of the two septa. Inother words, the lateral surfaces of at least one septum bulge radiallyoutwardly.

The force of pressing between the two septa amounting to securing thecontact therebetween is at least enough to prevent liquid leakagethrough the contact point in between the septa even without any elementradially surrounding the contact point. In other words, securing thecontact is intended to mean that even if there is no element (locks,snaps, connection elements, etc.) of any of the connectors, container,or the robotic system for maintaining the contact between the septa asleakproof by surrounding the contact radially, the septa are pressedonto each other with at least the force to maintain the contacttherebetween safe and leakproof. The magnitude of the force that isminimum required, i.e., at least enough, to prevent the septa fromdisconnecting from each other or allowing leakage of the fluid throughthe contact is maintained by the manipulator during the transfer offluid. In some non-limiting examples, the minimum force required tosecure the contact can be at least in the range of 5-100 Newtons,subranges and variables thereof and/or in some non-limiting examples, atleast in the range of 25-100 Newtons, subranges and variables thereof,in some non-limiting examples, the force can be in the range 10-50 ofNewtons, subranges and variables thereof, in some non-limiting examples,the force can be in the range of 25-75 Newtons, subranges and variablesthereof, in some non-limiting examples, the force can be in the range of30-50 Newtons, subranges and variables thereof, in some non-limitingexamples, the force can be in the range of 30-40 Newtons, subranges andvariables thereof.

It is to be understood herein that securing the contact between theseptum is intended to mean significantly more than merely bringing thesepta in contact with each other and/or holding the septa in contactwith the help of external elements like snaps, locks, connectionelements, or the like.

In some examples, the controller is further configured for controllingthe manipulator to: bring the container-septum and the fluid transferconnector septum into contact; and perform said securing of the contactbetween the container-septum and the fluid transfer connector septum bypressing at least one of the container-septum and the fluid transferconnector septum onto the other one of the container-septum and thefluid transfer connector septum during at least a portion of thetransfer of fluid.

In some examples, the manipulator includes a pressing mechanismconfigured to ensure a predetermined compression threshold between thecontainer-septum and the fluid transfer connector septum is reachedbefore initiation of the transfer of fluid, said reaching of thepredetermined compression threshold being associated with said securingthe contact.

In some examples, the pressing mechanism is further configured to ensurethat the predetermined compression threshold between thecontainer-septum and the fluid transfer connector septum is maintainedduring at least a portion of the transfer of fluid.

In some examples, the controller is configured for operating themanipulator to: align the fluid transfer connector septum of the fluidtransfer assembly and the container-septum of the container, bring thefluid transfer connector septum and the container-septum in contact witheach other; press at least one of the fluid transfer connector septumand the container-septum against the other one of the fluid transferconnector septum and the container-septum to perform said securing ofthe contact therebetween, and/or execute at least partial penetration ofat least one of the fluid transfer connector septum and thecontainer-septum by a fluid transfer conduit associated with a fluidtransfer connector of the fluid transfer assembly for enabling thetransfer of the fluid, wherein the pressing mechanism is configured toensure that the predetermined compression threshold between thecontainer-septum and the fluid transfer connector septum is reachedbefore said at least partial penetration. In some examples, the fluidtransfer conduit can comprise a needle.

In some examples, the manipulator comprises a gripping arm configuredfor gripping a gripping portion of at least one of the fluid transferassembly and the container. In some examples, the gripping arm isconfigured for holding the at least one of the fluid transfer assemblyand the container at least partially along a vertical axis. In someexamples, the gripping arm is configured to be controllably movable toallow grabbing the fluid transfer assembly from a fluid transferassembly recirculating conveyor configured to store one or more fluidtransfer assemblies and/or to allow grabbing the container from acontainer recirculating conveyor configured to store one or morecontainers. In some examples, the gripping arm is configured to becontrollably movable relative to a container holder configured to holdthe container, and the gripping arm is configured to align the fluidtransfer connector septum and the container-septum and bring the fluidtransfer connector septum in contact with the container-septum when thegripping arm holds said fluid transfer assembly.

In some examples, the manipulator includes an engaging arm configured toengage the fluid transfer assembly at an engaging portion when thegripping arm grips the fluid transfer assembly, said engaging arm beingconfigured to be axially movable relative to said gripping arm. In someexamples, the engaging arm and the gripping arm are coupled so that theengaging arm and the gripping arm are operable to be controllablydisplaced either axially together or axially relatively to each other.

In some examples, the engaging arm is configured to engage a sleeve of afluid transfer connector of the fluid transfer assembly, the sleevebeing fixedly coupled relative to the fluid transfer connector septumand the gripping arm is configured to grip a body member of the fluidtransfer connector being fixedly coupled relative to a fluid transferconduit of the fluid transfer connector, the controller being configuredto cause relative movement between the gripping arm and the engaging armto cause the fluid transfer conduit and the fluid transfer connectorseptum to at least partially move towards each other upon thepredetermined compression threshold between the container-septum and thefluid transfer connector septum is reached.

In some examples, the manipulator is configured to resist relativemovement between the gripping arm and the engaging arm when an axialforce below a predetermined pressing threshold is applied to cause saidrelative movement, said predetermined pressing threshold beingassociated with the predetermined compression threshold.

In some examples, the engaging arm and gripping arm are coupled via aresisting member opposing the relative movement of the gripping arm andthe engaging arm towards each other. In some examples, the resistingmember can include a spring configured to be selectively compressed bythe movement of the engaging arm and the gripping arm towards eachother. In some examples, the resisting member can include a stretchablemember configured to be selectively stretched by the movement of theengaging arm and the gripping arm towards each other. In some examples,the resisting member can include a deformable member configured to beselectively deformed by the movement of the engaging arm and thegripping arm towards each other. In some examples, the resisting membercan include a spring, a band, a telescopic arrangement, a linear drivearrangement, etc.

In some examples, the resisting member is configured to cause theengaging arm and the gripping arm to move away from each other aftersaid transfer of fluid is complete. In some examples, the engaging armis configured to abut on a radial stop at the engaging portion when thefluid transfer connector septum contacts the container septum, and themanipulator is configured to cause a relative movement between thegripping arm and the engaging arm only after the predetermined pressingthreshold force is applied, thereby pressing the fluid transferconnector septum to the container-septum for the contact therebetween toreach the predetermined compression threshold before the fluid transferconduit and the fluid transfer connector septum at least partially movestowards each other.

In some examples, the robotic system further includes a containerholding module or a container holder configured to hold the containeralong a container longitudinal axis.

In some examples, the container holder includes a vial holder configuredto support at least one vial and/or an intravenous bag holder configuredto support at least one intravenous bag.

In some examples, the manipulator is configured to move towards thecontainer holder. In some examples, the container holder is configuredto move towards the manipulator.

In some examples, the controller is further configured to rotate thegripping arm and the engaging arm together around a rotation axis. Insome examples, the controller is configured for controlling the engagingarm and the gripping arm such that: the gripping arm grips a body memberof the fluid transfer connector being fixedly coupled relative to afluid transfer conduit of a fluid transfer connector, aligns the fluidtransfer assembly with the container, and brings the fluid transferconnector septum in contact with the container-septum; the engaging armengages a sleeve of the fluid transfer connector of the fluid transferassembly, the sleeve being fixedly coupled relative to the fluidtransfer connector septum, presses the fluid transfer connector septumagainst the container-septum to perform said securing of the contacttherebetween; and/or the gripping arm causes a collapsible movement ofthe body member and the sleeve towards each other, which executes atleast partial movement of the fluid transfer conduit and the fluidtransfer connector septum towards each other for facilitating thetransfer of the fluid.

In some examples, the gripping arm is further configured to apply aradial force on an external wall of the fluid transfer assembly and thecontroller is configured for controlling the gripping arm to selectivelyapply the radial force so as to press upon a fluid transfer connectoractuator of the fluid transfer assembly.

In some examples, the fluid transfer assembly comprises a syringe, therobotic system further comprising a plunger arm configured to operate aplunger of the syringe and wherein the controller is configured forcontrolling said plunger arm to: grip a plunger flange portion of theplunger; and axially displace the plunger flange for transferring thefluid between the syringe and the container.

In some examples, the controller is configured for controlling theengaging arm and the gripping arm so that: following the transfer of thefluid, the gripping arm moves the body member away from the sleeve, andthe engaging arm and the gripping arm are distanced from the containerfor disconnecting the septa.

In some examples, the controller is configured to operate the grippingarm after fluid transfer to move the body member away from the sleeve.

In some examples, the controller is configured for operating thegripping arm after the body member is moved away from the sleeve to stopapplying the radial force. In some examples, the controller isconfigured for operating the gripping arm to perform the followingoperations either simultaneously or successively to grip the bodymember, align the fluid transfer assembly with the container and bringthe fluid transfer connector septum in contact with thecontainer-septum, and to selectively apply the radial force so as topress upon the fluid transfer connector actuator of the fluid transferassembly.

In some examples, the controller is configured for controlling theengaging arm and the gripping arm such that any one of the engaging armand the gripping arm grips the fluid transfer assembly, aligns the fluidtransfer assembly with the container and brings the fluid transferconnector septum in contact with the container-septum; and any one ofthe engaging arm and the gripping arm presses the fluid transferconnector septum against the container-septum to secure contacttherebetween.

In some examples, the engaging arm and the gripping arm are arranged tocontact the fluid transfer assembly at the fluid transfer connector. Insome examples, the engaging arm is formed with a pressing surfaceconfigured for being pressed onto a radial stop of the fluid transferassembly to secure the contact between the container-septum and thefluid transfer connector septum. In some examples, the pressing surfaceof the engaging arm includes an arcuate portion dimensioned to surroundthe fluid transfer assembly and to form a radial gap with an externalwall of the fluid transfer assembly.

In some examples, the pressing surface of the engaging arm is configuredto mate with the outer surface of the fluid transfer assembly such thatthere is no radial gap between the external wall of the fluid transferassembly and the pressing surface.

In some examples, the gripping arm includes at least one projectingelement configured to apply a radial force on an external wall of thefluid transfer assembly when the fluid transfer assembly is manipulatedby the robotic system.

In some examples, the projecting element of the gripping arm includes aplate formed with an arcuate groove.

In some examples, the gripping arm includes two oppositely facing platesincluding a first pair and a second pair of projecting elementsconfigured for accessing a first pair and a second pair of openings onthe external wall of the fluid transfer assembly.

In some examples, the two oppositely facing plates are configured to bespaced apart from each other for forming a gap therebetween. In someexamples, the pressing mechanism is further configured to ensure thatthe predetermined compression threshold between the container-septum andthe fluid transfer connector septum is maintained after the transfer offluid is complete at least until the fluid transfer conduit is movedaway from the fluid transfer connector septum. In some examples, therobotic system comprises the fluid transfer connector according to anyof the examples thereof described herein.

There is provided in accordance with an example, a method beingperformed by the robotic system of a first aspect. The method includes aprocess for transferring fluid between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector septum. the method, by operation of a robotic system,comprises: bringing the container-septum of the container into contactwith the fluid transfer connector septum of the fluid transfer assembly;pressing at least one of the container-septum and fluid transferconnector septum onto the other one of the container-septum and fluidtransfer connector septum for securing the contact therebetween;transferring fluid through the container-septum and the fluid transferconnector septum; and maintaining the secured contact between thecontainer-septum and the fluid transfer connector septum during at leasta portion of the transfer of the fluid.

There is provided in accordance with a second aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly, the fluid transfer assembly accessible via a fluidtransfer connector having a body member and a sleeve including a fluidtransfer connector septum, the sleeve and the body member beingconfigured to move relative to each other upon activation of a lockingmechanism, the robotic system comprising: a controller; and amanipulator controllable by the controller and configured to manipulatethe fluid transfer assembly, the manipulator being configured to bothgrip the fluid transfer assembly and activate the locking mechanism, thecontroller being configured to operate the manipulator to move thesleeve and the body member relative to each other upon activating thelocking mechanism and to transfer fluid between the fluid transferassembly and the container.

In some examples, the robotic system according to the second aspect canbe configured to perform some or all the operations related to securingthe contact between the fluid transfer connector septum and thecontainer septum as described above for the robotic system according tothe first aspect, and can include some or all the components relatedthereto. In some examples, the robotic system according to the secondaspect can be configured to perform some or all the operations relatedto the locking mechanism and relative movement of the engaging arm andthe gripping arm (or the sleeve and the body member) as described abovefor the robotic system according to the first aspect, and can includesome or all the components related thereto.

Furthermore, the robotic system according to the second aspect caninclude some or all the features related to the manipulator, grippingarm, engaging arm, and resisting member as described for the roboticsystem according to the first aspect.

In some examples, the robotic system comprises the fluid transferconnector according to any of the examples thereof described herein.

There is provided in accordance with an example, a method beingperformed by the robotic system of the second aspect. The methodincludes a process for transferring fluid between a container accessiblevia a container-septum and a fluid transfer assembly accessible via afluid transfer connector, the method, by operation of a robotic system,comprising: controlling a manipulator of the robotic system to grip thefluid transfer assembly and activate a locking mechanism associated withestablishment of fluid communication between the fluid transfer assemblyand the container; operating the manipulator to move a sleeve and a bodymember of the fluid transfer connector relative to each other uponactivating the locking mechanism for establishing said fluidcommunication; and transferring fluid between the fluid transferassembly and the container.

There is provided in accordance with a third aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector having abody member and a sleeve including a fluid transfer connector septum,the sleeve and the body member being configured to move relative to eachother, the system comprising: a container holder configured forsupporting the container and to be positioned at least partiallycoaxially with the fluid transfer assembly; an engaging arm configuredfor engaging one of the body member and the sleeve; and a gripping armconfigured for gripping the other one of the body member and the sleeve,said gripping arm and said engaging arm being movable relative to eachother.

In some examples, the engaging arm and the gripping arm are mechanicallycoupled to a primary driving assembly, configured to simultaneously movethe engaging arm and the gripping arm together while bringing at leastone of the gripping arm and the engaging arm to an outer surface of thefluid transfer assembly for pressing thereon.

In some examples, the engaging arm is connected to the gripping arm viaa secondary driving assembly, configured to cause said relative movementbetween the gripping arm and the engaging arm.

In some examples, the robotic system according to the third aspect canbe configured to perform some or all the operations related to securingthe contact between the fluid transfer connector septum and thecontainer septum as described above for the robotic system according tothe first and second aspect, and can include some or all the componentsrelated thereto. In some examples, the robotic system according to thethird aspect can be configured to perform some or all the operationsrelated to the locking mechanism and relative movement of the engagingarm and the gripping arm (or the sleeve and the body member) asdescribed above for the robotic system according to the first and secondaspect, and can include some or all the components related thereto.

Furthermore, the robotic system according to the third aspect caninclude some or all the features related to the manipulator, grippingarm, engaging arm, and resisting member as described for the roboticsystem according to the first and second aspect.

In some examples, the robotic system comprises the fluid transferconnector according to any of the examples thereof described herein.

There is provided in accordance with an example, a method beingperformed by the robotic system of the third aspect. The method includesa process for transferring fluid between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising: operating an engaging arm of the robotic system for engaginga sleeve of the fluid transfer connector; operating a gripping arm ofthe robotic system for gripping a body member of the fluid transferconnector; moving at least one of the engaging arm and the gripping armtowards the other one for establishing fluid communication between thefluid transfer assembly and the container; and performing said transferof fluid between the fluid transfer assembly and the container.

There is provided in accordance with a fourth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid at least partially along an injection axis between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector, the robotic systemcomprising: a controller; and a manipulator controllable by thecontroller, the manipulator comprising: a gripping arm configured forgripping a gripping portion of the fluid transfer assembly; and anengaging arm configured to engage the fluid transfer assembly at anengaging portion, at least one said engaging arm and gripping arm beingdisplaceable with respect to the other one of said engaging arm and thegripping arm along the injection axis, said engaging arm and grippingarm being configured to be displaced together during at least a portionof a movement of the manipulator.

In some examples, the robotic system according to the fourth aspect canbe configured to perform some or all the operations related to securingthe contact between the fluid transfer connector septum and thecontainer septum as described above for the robotic system according tothe first, second, and third aspect, and can include some or all thecomponents related thereto. In some examples, the robotic systemaccording to the fourth aspect can be configured to perform some or allthe operations related to the locking mechanism and relative movement ofthe engaging arm and the gripping arm (or the sleeve and the bodymember) as described above for the robotic system according to thefirst, second, and third aspect, and can include some or all thecomponents related thereto.

Furthermore, the robotic system according to the fourth aspect caninclude some or all the features related to the manipulator, grippingarm, engaging arm, and resisting member as described for the roboticsystem according to the first, second, and third aspect.

In some examples, the robotic system comprises the fluid transferconnector according to any of the examples thereof described herein.

There is provided in accordance with an example, a method beingperformed by the robotic system of the fourth aspect. The methodincludes a process for transferring fluid at least partially along aninjection axis between a container accessible via a container-septum anda fluid transfer assembly accessible via a fluid transfer connector, themethod, by operation of a robotic system, comprising: operating anengaging arm of a manipulator of the robotic system for engaging anengaging portion of the fluid transfer assembly; operating a grippingarm of the manipulator for gripping a gripping portion of the fluidtransfer assembly; moving the engaging arm and the gripping arm togetherto along the fluid transfer assembly with the container; moving at leastone of the engaging arm and the gripping arm towards the other one ofthe engaging arm and the gripping arm along the injection axis forestablishing fluid communication between the fluid transfer assembly andthe container; and performing said transfer of fluid between the fluidtransfer assembly and the container.

There is provided in accordance with a fifth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector configuredfor establishing fluid communication between the container and the fluidtransfer assembly for said transfer of fluid, said fluid transferconnector comprising a body member and a sleeve displaceable relative toeach other between an extended position, which is a normal position, anda collapsed position, at which the fluid transfer connector establishessaid fluid communication, said fluid transfer connector comprising afluid transfer connector septum positioned at the sleeve, the roboticsystem comprising: a controller; a manipulator controllable by thecontroller to manipulate at least one of the container and the fluidtransfer assembly to bring the fluid transfer connector septum and thecontainer-septum into contact with each other and to selectivelydisplace the fluid transfer connector into its collapsed position fromthe extended position; and a contact securing mechanism configured forpreventing the manipulator from displacing the fluid transfer connectorinto its collapsed position from the extended position until apredetermined compression threshold between the container-septum and thefluid transfer connector septum is reached.

In some examples, the manipulator is configured to push at least one ofthe fluid transfer connector septum and the container-septum against theother one of the fluid transfer connector septum and thecontainer-septum by a compression force with a variable magnitude.

In some examples, the contact securing mechanism is configured forpreventing the manipulator from displacing the fluid transfer connectorinto its collapsed position from the extended position at least untilthe compression force is less than the predetermined compressionthreshold.

In some examples, the contact securing mechanism is configured forallowing the manipulator to displace the fluid transfer connector intoits collapsed position from the extended position at least when thecompression force is equal to or more than the predetermined compressionthreshold.

In some examples, the contact securing mechanism is configured forallowing the manipulator to displace the fluid transfer connector intoits collapsed position following detection of an event indicative thatthe compression force is equal to or more than the predeterminedcompression threshold.

In some examples, the contact securing mechanism comprises a mechanicalelement.

In some examples, the contact securing mechanism comprises a resistingmember configured to resist the manipulator displacing the fluidtransfer connector into its collapsed position.

In some examples, the manipulator comprises an engaging arm configuredfor engaging the sleeve and a gripping arm configured to grip the bodymember, said engaging arm and gripping arm being configured to moverelative to each other to displace the fluid transfer connector betweenthe extend and collapsed position, wherein the engaging arm and thegripping arm are coupled to each other via the resisting member.

In some examples, the engaging arm and the gripping arm are configuredto move towards each other to displace the fluid transfer connector intothe collapsed position upon commencement of deformation of the resistingmember. In some examples, the resisting member is configured to preventsaid deformation until a minimum threshold force is applied thereon. Insome examples, the event comprises commencement of said deformation.

In some examples, the robotic system further comprises a sensorconfigured to detect said commencement of deformation and to generate asignal indicative thereof. In some examples, the resisting member isconfigured to cause the manipulator to displace the fluid transferconnector into its extended position after completion of said transferof fluid.

In some examples, the robotic system according to the fifth aspect canbe configured to perform some or all the operations related to securingthe contact between the fluid transfer connector septum and thecontainer septum as described above for the robotic system according tothe first, second, third and fourth aspect, and can include some or allthe components related thereto. In some examples, the robotic systemaccording to the fifth aspect can be configured to perform some or allthe operations related to the locking mechanism and relative movement ofthe engaging arm and the gripping arm (or the sleeve and the bodymember) as described above for the robotic system according to thefirst, second, third, and fourth aspect, and can include some or all thecomponents related thereto.

Furthermore, the robotic system according to the fifth aspect caninclude some or all the features related to the manipulator, grippingarm, engaging arm, sensor, and resisting member as described for therobotic system according to the first, second, third, and fourth aspect.

In some examples, the robotic system comprises the fluid transferconnector according to any of the examples thereof described herein.

In some examples, the robotic system according to the aspects describedabove can include some or all the features related to the contactsecuring mechanism as described for the robotic system according to thefifth aspect.

There is provided in accordance with an example, a method beingperformed by the robotic system of the fifth aspect. The method includesa process for transferring fluid between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector comprising a fluid transfer connector septum, themethod, by operation of a robotic system, comprising: operating amanipulator of the robotic system for manipulating at least one of thecontainer and the fluid transfer assembly to bring the fluid transferconnector septum and the container-septum into contact with each other;operating the manipulator for manipulating the fluid transfer assemblyto press the fluid transfer connector septum onto the container-septumat least until a predetermined compression threshold between thecontainer-septum and the fluid transfer connector septum is reached;operating the manipulator to displace, after the predeterminedcompression threshold is reached, the fluid transfer connector into itscollapsed position, at which fluid communication between the containerand the fluid transfer assembly is established, from its extendedposition, which is a normal position; performing said transfer of fluidbetween the fluid transfer assembly and the container.

There is provided in accordance with a sixth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector, the roboticsystem comprising: a controller; a manipulator operable by thecontroller to manipulate at least one of the container and the fluidtransfer assembly for establishing fluid communication therebetween; asensor configured to monitor the operation of the manipulator andtransmit a signal indicative of said monitoring.

In some examples, the manipulator comprises: a gripping arm configuredfor gripping a gripping portion of the fluid transfer connector; and anengaging arm configured for engaging an engaging portion of the fluidtransfer connector, said engaging arm and gripping arm being configuredto move relative to each other for selectively establishing said fluidcommunication, wherein the sensor is configured to monitor said relativemovement of the engaging arm and the gripping arm. In some examples, thesensor is configured to monitor a relative position of at least one ofthe engaging arm and the gripping arm with respect to the other one ofat least one of the engaging arm and the gripping arm.

In some examples, the engaging arm is coupled to the gripping arm via aresisting member configured for resisting said relative movement betweenthe engaging arm and the gripping arm towards each other. In someexamples, the sensor is configured to monitor said resisting member. Insome examples, the resisting member is configured to deform upon saidrelative movement between the engaging arm and the gripping arm. In someexamples, the sensor is configured to monitor said deformation of theresisting member. In some examples, the resisting member is configuredto prevent commencement of said deformation at least until a force equalto or greater than a predetermined threshold is applied thereon. In someexamples, the sensor is configured to monitor said force.

In some examples, the robotic system further comprises a motorconfigured to move the manipulator for performing said operation of themanipulator, said motor being configured to consume variable power formoving said manipulator, wherein the sensor is configured to monitorsaid power consumption.

In some examples, the robotic system according to the sixth aspect canbe configured to perform some or all the operations related to securingthe contact between the fluid transfer connector septum and thecontainer septum as described above for the robotic system according tothe aspects described above, and can include some or all the componentsrelated thereto. In some examples, the robotic system according to thesixth aspect can be configured to perform some or all the operationsrelated to the locking mechanism and relative movement of the engagingarm and the gripping arm (or the sleeve and the body member) asdescribed above for the robotic system according to the aspectsdescribed above, and can include some or all the components relatedthereto.

Furthermore, the robotic system according to the sixth aspect caninclude some or all the features related to the manipulator, grippingarm, engaging arm, sensor, contact securing mechanism, and resistingmember as described for the robotic system according to the aspectsdescribed above.

In some examples, the robotic system comprises the fluid transferconnector according to any of the examples thereof described herein.

In some examples, the robotic system according to the aspects describedabove can include some or all the features related to the sensors asdescribed for the robotic system according to the sixth aspect.

There is provided in accordance with an example, a method beingperformed by the robotic system of the sixth aspect. The method includesa process for transferring fluid between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising: controlling a manipulator of the robotic system tomanipulate at least one of the container and the fluid transfer assemblyfor establishing fluid communication therebetween; monitoring by asensor of the robotic system the operation of the manipulator; andtransmitting by the sensor a signal indicative of said monitoring.

There is provided in accordance with a seventh aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector, the roboticsystem comprising: a manipulator configured to manipulate at least oneof the container and the fluid transfer assembly for establishing fluidcommunication therebetween; a motor configured to move the manipulatorfor establishing said fluid communication, said motor being configuredto consume variable power for moving said manipulator; and a controllerconfigured for monitoring said power consumption and controlling themotor based at least thereon.

In some examples, the motor comprises a motor shaft operable to causethe movement of the manipulator and an encoder operable to detect aposition of the motor shaft, wherein the controller is configured forcontrolling the motor based on a combination of said power consumptionand the position of the motor shaft.

In some examples, the controller is configured for predetermining atleast one of an upper and lower range of power consumption, and togenerate an alert upon detection of a deviation of the power consumptionfrom the predetermined range. In some examples, the power consumption ismeasurable by a magnitude of current applied to the motor.

In some examples, the robotic system according to the seventh aspect canbe configured to perform some or all the operations related to securingthe contact between the fluid transfer connector septum and thecontainer septum as described above for the robotic system according tothe aspects described above, and can include some or all the componentsrelated thereto. In some examples, the robotic system according to theseventh aspect can be configured to perform some or all the operationsrelated to the locking mechanism and relative movement of the engagingarm and the gripping arm (or the sleeve and the body member) asdescribed above for the robotic system according to the aspectsdescribed above, and can include some or all the components relatedthereto.

Furthermore, the robotic system according to the seventh aspect caninclude some or all the features related to the manipulator, grippingarm, engaging arm, sensor, contact securing mechanism, and resistingmember as described for the robotic system according to the aspectsdescribed above.

In some examples, the robotic system comprises the fluid transferconnector according to any of the examples thereof described herein.

In some examples, the robotic system according to the aspects describedabove can include some or all the features related to controlling themotor moving the manipulator based on power consumption by the motor asdescribed for the robotic system according to the seventh aspect.

There is provided in accordance with an example, a method beingperformed by the robotic system of the seventh aspect. The methodincludes a process for transferring fluid between a container accessiblevia a container-septum and a fluid transfer assembly accessible via afluid transfer connector, the method, by operation of a robotic system,comprising: controlling a manipulator of the robotic system tomanipulate at least one of the container and the fluid transfer assemblyfor establishing fluid communication therebetween; operating a motor ofthe robotic system to move the manipulator for establishing said fluidcommunication, wherein said operating the motor comprises consumingvariable power; monitoring by a controller of the robotic system saidpower consumption; and controlling the motor based at least on saidmonitoring.

There is provided in accordance with an eighth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector configuredfor establishing fluid communication between the container and the fluidtransfer assembly for said transfer of fluid, said fluid transferconnector comprising a body member and a sleeve displaceable relative toeach other between an extended position, which is a normal position, anda collapsed position, at which the fluid transfer connector establishessaid fluid communication, said fluid transfer connector comprising afluid transfer connector septum positioned at a distal end of the sleeveand a fluid transfer conduit extending from a proximal end of the bodymember towards the fluid transfer connector septum, the robotic systemcomprising: a controller; and a manipulator controllable by thecontroller to: apply a variable positioning force to manipulate thefluid transfer assembly through a positioning stage, during which themanipulator positions the fluid transfer assembly and/or the containerto bring the fluid transfer connector septum and the container septum incontact with each other; and apply a variable penetration force tomanipulate the fluid transfer assembly and/or the container through apenetration stage, during which at least a tip of the fluid transferconduit penetrates at least partially through at least one of thecontainer-septum and the fluid transfer connector septum, wherein aminimum value of the variable penetration force is greater than amaximum value of the variable positioning force.

In some examples, the manipulator is further controllable by thecontroller to apply a variable collapsing force to manipulate the fluidtransfer assembly through a collapsing stage, during which the sleeveand the body member are displaced relative to each other to reduce adistance between the fluid transfer connector septum and the bodymember, wherein the manipulator is further controllable by thecontroller to increase the variable collapsing force continuously atleast during a portion of the collapsing stage.

In some examples, the manipulator is further controllable by thecontroller to increase the variable collapsing force continuously atleast during a portion of the collapsing stage prior to commencement ofthe penetration stage.

In some examples, the manipulator is further controllable by thecontroller to apply a variable securing force to manipulate at least oneof the fluid transfer assembly and the container through a contactsecuring stage, during which the manipulator secures the contact betweenthe fluid transfer connector septum and the container septum.

There is provided in accordance with a ninth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector configuredfor establishing fluid communication between the container and the fluidtransfer assembly for said transfer of fluid, said fluid transferconnector comprising a body member and a sleeve displaceable relative toeach other between an extended position, which is a normal position, anda collapsed position, at which the fluid transfer connector establishessaid fluid communication, said fluid transfer connector comprising afluid transfer connector septum positioned at a distal end of the sleeveand a fluid transfer conduit extending from a proximal end of the bodymember towards the fluid transfer connector septum, the robotic systemcomprising: a controller; and a manipulator controllable by thecontroller to apply a variable collapsing force to manipulate the fluidtransfer assembly through a collapsing stage, during which the sleeveand the body member are displaced relative to each other to reduce adistance between the fluid transfer connector septum and the bodymember, wherein the manipulator is further controllable by thecontroller to increase the variable collapsing force continuously atleast during a portion of the collapsing stage.

In some examples, the manipulator is further controllable by thecontroller to apply a variable penetration force to manipulate the fluidtransfer assembly and/or the container through a penetration stage,during which the at least a tip of the fluid transfer conduit penetratesat least partially through at least one of the container-septum and thefluid transfer connector septum.

In some examples, the manipulator is further controllable by thecontroller to apply a variable positioning force to manipulate the fluidtransfer assembly through a positioning stage, during which themanipulator positions the fluid transfer assembly and/or the containerto bring the fluid transfer connector septum and the container septum incontact with each other.

In some examples, the manipulator is further controllable by thecontroller to apply a variable securing force to manipulate at least oneof the fluid transfer assembly and the container through a contactsecuring stage, during which the manipulator secures the contact betweenthe fluid transfer connector septum and the container septum.

There is provided in accordance with a tenth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector configuredfor establishing fluid communication between the container and the fluidtransfer assembly for said transfer of fluid, said fluid transferconnector comprising a body member and a sleeve displaceable relative toeach other between an extended position, which is a normal position, anda collapsed position, at which the fluid transfer connector establishessaid fluid communication, said fluid transfer connector comprising afluid transfer connector septum positioned at a distal end of the sleeveand a fluid transfer conduit extending from a proximal end of the bodymember towards the fluid transfer connector septum, the robotic systemcomprising: a controller; and a manipulator controllable by thecontroller to: apply a variable securing force to manipulate at leastone of the fluid transfer assembly and the container through a contactsecuring stage, during which the manipulator secures the contact betweenthe fluid transfer connector septum and the container septum; and applya variable collapsing force to manipulate the fluid transfer assemblythrough a collapsing stage, during which the sleeve and the body memberare displaced relative to each other to reduce a distance between thefluid transfer connector septum and the body member, wherein an initialvalue of the variable collapsing force is greater than an initial valueof the variable securing force.

In some examples, the manipulator is further controllable by thecontroller to apply a variable penetration force to manipulate the fluidtransfer assembly and/or the container through a penetration stage,during which at least a tip of the fluid transfer conduit penetrates atleast partially through at least one of the container-septum and thefluid transfer connector septum.

In some examples, the manipulator is further controllable by thecontroller to apply a variable positioning force to manipulate the fluidtransfer assembly through a positioning stage, during which themanipulator positions the fluid transfer assembly and/or the containerto bring the fluid transfer connector septum and the container septum incontact with each other.

There is provided in accordance with an eleventh aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container accessible via a container-septum and a fluidtransfer assembly accessible via a fluid transfer connector configuredfor establishing fluid communication between the container and the fluidtransfer assembly for said transfer of fluid, said fluid transferconnector comprising a body member and a sleeve displaceable relative toeach other between an extended position, which is a normal position, anda collapsed position, at which the fluid transfer connector establishessaid fluid communication, said fluid transfer connector comprising afluid transfer connector septum positioned at a distal end of the sleeveand a fluid transfer conduit extending from a proximal end of the bodymember towards the fluid transfer connector septum, the robotic systemcomprising: a controller; and a manipulator controllable by thecontroller to: apply a variable positioning force to manipulate thefluid transfer assembly through a positioning stage, during which themanipulator positions the fluid transfer assembly and/or the containerto bring the fluid transfer connector septum and the container septum incontact with each other; and apply a variable collapsing force tomanipulate the fluid transfer assembly through a collapsing stage,during which the sleeve and the body member are displaced relative toeach other to reduce a distance between the fluid transfer connectorseptum and the body member, wherein an initial value of the variablecollapsing force is greater than a maximum value of the variablepositioning force.

In some examples, the manipulator is further controllable by thecontroller to apply a variable penetration force to manipulate the fluidtransfer assembly and/or the container through a penetration stage,during which at least a tip of the fluid transfer conduit penetrates atleast partially through at least one of the container-septum and thefluid transfer connector septum.

In some examples, the manipulator is further controllable by thecontroller to apply a variable securing force to manipulate at least oneof the fluid transfer assembly and the container through a contactsecuring stage, during which the manipulator secures the contact betweenthe fluid transfer connector septum and the container septum.

All of the robotic systems according to the eighth, ninth, tenth, andeleventh aspects, include at least some of the following features:

-   the positioning stage commences with initiation of the manipulator    moving the fluid transfer assembly and/or the container and ends    with the manipulator bringing the fluid transfer connector septum    and the container septum in contact with each other,-   the contact securing stage commences with the manipulator bringing    the fluid transfer connector septum and the container septum in    contact with each other and ends with completion of the transfer of    fluid,-   the collapsing stage commences with commencement of relative    movement of the sleeve and the body member towards each other and    ends with the fluid transfer connector displacing into its collapsed    position,-   the penetration stage commences with initiation of penetration of    the tip of the fluid transfer conduit at least partially through at    least one of the container-septum and the fluid transfer connector    septum and ends with the fluid transfer connector displacing into    its collapsed position,-   the contact securing stage at least partially overlaps with the    collapsing stage,-   the contact securing stage at least partially overlaps with the    penetration stage,-   the collapsing stage at least partially overlaps with the    penetration stage,-   a minimum value of the variable penetration force is greater than a    maximum value of the variable positioning force,-   the variable collapsing force increases continuously at least during    a portion of the collapsing stage,-   the variable collapsing force increases continuously at least during    a portion of the collapsing stage prior to commencement of the    penetration stage,-   an initial value of the variable collapsing force is greater than    the maximum value of the variable positioning force,-   the variable securing force increases at least prior to the    commencement of the collapsing stage,-   an initial value of the variable collapsing force is greater than an    initial value of the variable securing force,-   the variable collapsing force increases continuously at least during    a majority of the collapsing stage,-   an initial value of the variable penetration force is greater than    an initial value of the variable collapsing force, and-   a minimum value of the variable collapsing force is greater than a    maximum value of the variable positioning force.

There is provided in accordance with various examples, methods beingperformed by the robotic system of the eighth, ninth, tenth, andeleventh aspects.

In some examples, the robotic systems according to the eighth, ninth,tenth, and eleventh aspects can be configured to perform some or all theoperations related to securing the contact between the fluid transferconnector septum and the container septum as described above for therobotic system according to the aspects described above, and can includesome or all the components related thereto. In some examples, therobotic systems according to the eighth, ninth, tenth, and eleventhaspects can be configured to perform some or all the operations relatedto the locking mechanism and relative movement of the engaging arm andthe gripping arm (or the sleeve and the body member) as described abovefor the robotic system according to the aspects described above, and caninclude some or all the components related thereto.

Furthermore, the robotic systems according to the eighth, ninth, tenth,and eleventh aspects can include some or all the features related to themanipulator, gripping arm, engaging arm, sensor, contact securingmechanism, and resisting member as described for the robotic systemaccording to the aspects described above.

In some examples, the robotic systems according to the eighth, ninth,tenth, and eleventh aspects comprise the fluid transfer connectoraccording to any of the examples thereof described herein.

In some examples, the robotic system according to the first to seventhaspects described above can include some or all the features of therobotic systems according to the eighth, ninth, tenth, and eleventhaspects.

There is provided in accordance with a twelfth aspect of the presentlydisclosed subject matter, a robotic system operable for transfer offluid between a container and a fluid transfer assembly, the roboticsystem comprising: a controller; and a manipulator controllable by thecontroller, the manipulator comprising: a gripping arm configured forgripping a gripping portion of the fluid transfer assembly; and asupporting arm configured for supporting a supporting portion of thefluid transfer assembly at least prior to the gripping arm gripping thegripping portion.

In some examples, the robotic system is operable for transfer of fluidat least partially along an injection axis, and the supporting arm isconfigured to be stationary with respect to the injection axis.

In some examples, the gripping arm is configured to be displaceable withrespect to the supporting arm, and the supporting arm is configured tobe stationary with respect to the gripping arm.

In some examples, the manipulator further comprises a plunger armconfigured to engage a plunger flange portion of a fluid transfer unitof the fluid transfer assembly.

In some examples, the manipulator further comprises an engaging armconfigured to engage an engaging portion of the fluid transfer assembly.

In some examples, the engaging arm is configured to be displaceable withrespect to the supporting arm and the supporting arm is configured to bestationary with respect to the engaging arm.

In some examples, the manipulator comprises a body and the supportingarm comprises a projection projecting from the body.

In some examples, the robotic system according to the first to eleventhaspects described above can include some or all the features of therobotic systems according to the twelfth aspect.

In some examples, the robotic system according to the twelfth aspect caninclude some or all the features of the robotic systems according to thefirst to eleventh aspects described above.

There is provided in accordance with a thirteenth aspect of thepresently disclosed subject matter, a robotic system operable fortransfer of fluid between a container and a fluid transfer assemblycomprising a plunger flange portion, the robotic system comprising: acontroller; and a manipulator controllable by the controller, themanipulator comprising a plunger support including at least a firstplunger holding element and a second plunger holding element, the firstplunger holding element being configured for accommodating a firstplunger flange portion sized with a first flange dimension and thesecond plunger holding element being configured for accommodating asecond plunger flange portion sized with a second dimension, differentfrom the first, flange dimension.

In some examples, the first plunger holding element comprises a firstrecess configured to receive therein the first plunger flange portion,said first recess being formed with a first receiving space having afirst recess dimension corresponding to the first flange dimension, andthe second plunger holding element comprises a second recess configuredto receive therein the second plunger flange portion, said second recessbeing formed with a second receiving space having a second recessdimension corresponding to the second flange dimension and differentfrom the first recess dimension.

In some examples, the plunger support further includes a third plungerholding element configured for accommodating a third plunger flangeportion sized with a third flange dimension different from the first andthe second flange dimensions, the third plunger holding elementcomprising a third recess configured to receive therein the thirdplunger flange portion, said third recess being formed with a thirdreceiving space having a third recess dimension corresponding to thethird flange dimension and different from the first and second recessdimensions.

In some examples, the robotic system according to the first to twelfthaspects described above can include some or all the features of therobotic systems according to the thirteenth aspect.

In some examples, the robotic system according to the thirteenth aspectcan include some or all the features of the robotic systems according tothe first to twelfth aspects described above.

There is provided in accordance with a fourteenth aspect of thepresently disclosed subject matter, a fluid transfer connector,comprising: a body member couplable to a fluid transfer unit at a unitcoupling portion, the body member being shaped to define a body lumen; afluid transfer conduit extending axially from the unit coupling portioninto the body lumen, the fluid transfer conduit being configured toestablish fluid communication with the fluid transfer unit when thefluid transfer unit is coupled to the unit coupling portion; a sleevearranged coaxially relative to the body member; a fluid transferconnector septum mounted at a distal end of the sleeve, the sleeve andthe body member being configured to move relative to each other betweenan extended position and a collapsed position; and a locking mechanismconfigured for switching between a locked state and an unlocked statefor selectively enabling and preventing the relative movement of thesleeve and the body member, wherein the locking mechanism is configuredto enable the relative movement between the sleeve and the body memberfrom the extended position to the collapsed position upon activation ofan actuator accessible through an external wall of the fluid transferconnector.

In some examples, the actuator is actuatable by application of a radialforce thereon.

In some examples, the actuator comprises an internal portion, disposedat least partially within one of the sleeve and the body member, and anactuation portion which is accessible via an opening formed on the otherone of the sleeve and the body member, and wherein application of aradial force on the actuation portion induces actuation of the lockingmechanism at least from the locked state to the unlocked state forfacilitating the movement of the body member with respect to the sleeveat least from the extended position to the collapsed position.

In some examples, the external wall of the syringe connector comprises aprotective surface configured to prevent manual access to the actuator.

In some examples, the protective surface comprises one or moreprotection elements surrounding the opening.

In some examples, a fluid transfer connector inner surface is configuredfor axial, slidable movement of the actuator therealong for facilitatingthe movement between the extended position and the collapsed position.

In some examples, the actuator is configured: to be pressable by aradial force, thereby switching from the locked state to the unlockedstate at the extended position; and for subsequent slidable axialmovement along the inner surface for transitioning from the extendedposition to the collapsed position.

In some examples, the fluid transfer connector septum comprises athroughgoing bore extending from a septum proximal surface to a septumdistal surface and dimensioned for receiving the fluid transfer conduit.

In some examples, the fluid transfer connector septum is formed as amonolith.

In some examples, the external wall of the fluid transfer connectorcomprises a peripheral wall of the sleeve and terminates at a distaledge of the peripheral wall, said peripheral wall distal edge beingaxially spaced away from a mounting portion of the sleeve forming a gaptherebetween, said sleeve mounting portion configured for mounting thefluid transfer connector septum thereon.

In some examples, the peripheral wall is connected to the mountingportion via one or more beams.

In some examples, the fluid transfer connector has a longitudinal axisand the one or more beams comprise two oppositely facing beams such thatthe septum mounting portion extends along a plane perpendicular to thelongitudinal axis in between the two oppositely facing beams.

There is provided in accordance with a fifteenth aspect of the presentlydisclosed subject matter, a fluid transfer connector, comprising: a bodymember couplable to a fluid transfer unit at a unit coupling portion,the body member being shaped to define a body lumen; a fluid transferconduit extending axially from the unit coupling portion into the bodylumen, the fluid transfer unit being configured to establish fluidcommunication with the fluid transfer unit when the fluid transfer unitis coupled to the unit coupling portion; a sleeve arranged coaxiallyrelative to the body member; a fluid transfer connector septum mountedat a distal end of the sleeve, the sleeve and the body member beingconfigured to move relative to each other between an extended positionand a collapsed position; and a locking mechanism configured forswitching between a locked state and an unlocked state for selectivelyenabling and preventing the relative movement of the sleeve and the bodymember, wherein the locking mechanism is configured to enable therelative movement between the sleeve and the body member from theextended position to the collapsed position upon activation of anactuator, wherein said actuator is actuatable irrespective of an axialforce applied onto the fluid transfer connector septum.

In some examples, the actuator is actuatable irrespective of the axialforce applied onto the fluid transfer connector septum by a containerseptum.

In some examples, the fluid transfer connector in accordance with thefifteenth aspect can include some or all of the features of the fluidtransfer connector according to the fourteenth aspect.

In some examples, the fluid transfer connector in accordance with thefourteenth aspect can include some or all of the features of the fluidtransfer connector according to the fifteenth aspect.

There is provided in accordance with a sixteenth aspect of the presentlydisclosed subject matter, a fluid transfer connector, comprising: a bodymember couplable to a fluid transfer unit at a unit coupling portion,the body member being shaped to define a body lumen comprising alongitudinal axis of the fluid transfer connector; a fluid transferconduit extending axially from the unit coupling portion into the bodylumen, the fluid transfer unit being configured to establish fluidcommunication with the fluid transfer unit when the fluid transfer unitis coupled to the unit coupling portion; a sleeve arranged coaxiallyrelative to the body member and comprising a fluid transfer connectorseptum mounted at a distal end of the sleeve, the sleeve and the bodymember being configured to move relative to each other between anextended position and a collapsed position; and a locking mechanismconfigured for switching between a locked state and an unlocked statefor selectively enabling and preventing the relative movement of thesleeve and the body member, wherein the locking mechanism in its lockedstate is configured to prevent the relative movement between the sleeveand the body member from the extended position to the collapsed positionby an axial force applied on at least one of the body member and thesleeve in a direction parallel to the longitudinal axis.

In some examples, the locking mechanism is configured to switch from thelocked state to the unlocked state upon application of a radial forceapplied thereon in a direction perpendicular to the longitudinal axis,and to enable in its unlocked state the relative movement of the sleeveand the body member.

In some examples, the locking mechanism comprises an actuator configuredto prevent the locking mechanism from switching into its unlocked statefrom the locked state in response to said axial force.

In some examples, the actuator is configured to switch the lockingmechanism from the locked state into the unlocked state in response tosaid radial force being applied thereon.

In some examples, the actuator comprises a lockable member and one ofthe sleeve and the body member comprises a locking member configured toselectively engage the lockable member in the locked state of thelocking mechanism, said lockable member being configured to prevent itsrelease from the locking member by said axial force.

In some examples, the lockable member configured to release from thelocking member in response to said radial force.

In some examples, the fluid transfer connector in accordance with asixteenth aspect can include some or all of the features of the fluidtransfer connector according to the fourteenth and fifteenth aspects.

In some examples, the fluid transfer connector in accordance with thefourteenth and fifteenth aspects can include some or all of the featuresof the fluid transfer connector according to the sixteenth aspect.

There is provided in accordance with a seventeenth aspect of thepresently disclosed subject matter, a fluid transfer connector,comprising: a body member couplable to a fluid transfer unit at a unitcoupling portion, the body member being shaped to define a body lumen; afluid transfer conduit extending axially from the unit coupling portioninto the body lumen, the fluid transfer conduit being configured toestablish fluid communication with the fluid transfer unit when thefluid transfer unit is coupled to the unit coupling portion; a sleevearranged coaxially relative to the body member; a fluid transferconnector septum mounted at a distal end of the sleeve, the sleeve andthe body member being configured to move relative to each other betweenan extended position in which the fluid transfer connector septum is atan extended distance from the unit coupling portion and an intermediateposition in which the fluid transfer connector septum is at anintermediate distance, smaller than the extended distance, from the unitcoupling portion, smaller than the second distance, from the unitcoupling portion; and a locking mechanism configured for switchingbetween a locked state and an unlocked state for selectively enablingand preventing the relative movement of the sleeve and the body memberat the extended position and the intermediate position.

In some examples, the sleeve and the body member are configured to moverelative to each other between at least one of the extended position andthe intermediate position and a collapsed position in which the fluidtransfer connector septum is at a collapsed distance, smaller than theintermediate distance, from the unit coupling portion.

In some examples, the sleeve and the body member are configured to moveaxially relative to each other to transition from at least one of theextended position and the intermediate position to the collapsedposition.

In some examples, the locking mechanism is configured for selectivelyenabling the movement of the sleeve relative to the body member from atleast one of the extended position and the intermediate position uponactivation of an actuator accessible through an external wall of thefluid transfer connector.

In some examples, the actuator is actuatable by application of a radialforce thereon.

In some examples, the actuator comprises an internal portion, disposedat least partially within one of the sleeve and the body member, and anactuation portion which is accessible via an opening formed on the otherone of the sleeve and the body member, and wherein application of aradial force on the actuation portion induces actuation of the lockingmechanism at least from the locked state to the unlocked state forfacilitating the movement of the body member with respect to the sleevefrom at least one of the extended position and the intermediateposition.

In some examples, an external wall of the syringe connector comprises aprotective surface configured to prevent manual access to the actuator.

In some examples, the protective surface comprises one or moreprotection elements surrounding the opening.

In some examples, a fluid transfer connector inner surface is configuredfor axial, slidable movement of the actuator therealong for facilitatingthe movement between the extended position and the collapsed position.

In some examples, the actuator is configured: to be pressable by aradial force, thereby switching from the locked state to the unlockedstate at, at least one of the extended position and the intermediateposition; and for subsequent slidable axial movement along the innersurface for transitioning between the extended position and theintermediate position.

In some examples, the fluid transfer connector septum comprises athoroughgoing bore extending from a septum proximal surface to a septumdistal surface and dimensioned for receiving the fluid transfer conduit.

In some examples, the fluid transfer connector septum is formed as amonolith.

In some examples, the external wall of the fluid transfer connectorcomprises a peripheral wall of the sleeve and terminates at a distaledge of the peripheral wall, said peripheral wall distal edge beingaxially spaced away from a mounting portion of the sleeve forming a gaptherebetween, said sleeve mounting portion configured for mounting thefluid transfer connector septum thereon.

In some examples, the peripheral wall is connected to the mountingportion via one or more beams.

In some examples, the fluid transfer connector has a longitudinal axisand the one or more beams comprise two oppositely facing beams such thatthe septum mounting portion extends along a plane perpendicular to thelongitudinal axis in between the two oppositely facing beams.

In some examples, the locking mechanism is configured to prevent manualaccess to the actuator

In some examples, the fluid transfer connector in accordance with theseventeenth aspect can include some or all of the features of the fluidtransfer connector according to the fourteenth to sixteenth aspects.

In some examples, the fluid transfer connector in accordance withfourteenth to sixteenth aspects can include some or all of the featuresof the fluid transfer connector according to the seventeenth aspect.

There is provided in accordance with an eighteenth aspect of thepresently disclosed subject matter a fluid transfer connectorcomprising: a body member couplable to a fluid transfer unit at a unitcoupling portion, the body member being shaped to define a body lumen; afluid transfer conduit extending axially from the unit coupling portioninto the body lumen, the fluid transfer conduit being configured toestablish fluid communication with the fluid transfer unit when thefluid transfer unit is connected to the unit coupling portion; a sleevearranged coaxially relative to the body member; a fluid transferconnector septum mounted at a distal end of the sleeve; the sleeve andthe body member being configured to move relative to each other betweenan intermediate position in which the fluid transfer connector septum isat an intermediate distance from the unit coupling portion and acollapsed position in which the fluid transfer connector septum is at acollapsed distance, smaller than the intermediate distance, from theunit coupling portion; and a locking mechanism configured for switchingbetween a locked state and an unlocked state for selectively enablingand preventing the relative movement of the sleeve and the body memberat the intermediate state, said locking mechanism being configured toselectively enable the relative movement of the sleeve and the bodymember upon activation of an actuator, at least to transition from theintermediate position to the collapsed position.

In some examples, the sleeve and the body member are configured to moverelative to each other between at least one of the intermediate positionand the collapsed position and an extended position in which the fluidtransfer connector septum is at an extended distance, greater than theintermediate distance, from the unit coupling portion.

In some examples, the fluid transfer connector in accordance with theeighteenth aspect can include some or all of the features of the fluidtransfer connector according to the fourteenth to seventeenth aspects.

In some examples, the fluid transfer connector in accordance with thefourteenth to seventeenth aspects can include some or all of thefeatures of the fluid transfer connector according to the eighteenthaspect.

There is provided in accordance with a nineteenth aspect of thepresently disclosed subject matter a fluid transfer connectorcomprising: a sleeve having a sleeve distal end; and a fluid transferconnector septum mounted at the sleeve distal end and having a septumprotruding portion axially protruding from the sleeve, said septumprotruding portion being formed in a terraced-like shape.

In some examples, the septum protruding portion comprises a septumproximal portion having a first peripheral wall comprising a firstcircumference and a septum distal portion having a second peripheralwall comprising a second circumference, said second circumference beingsmaller than the first circumference.

In some examples, the second peripheral wall is inclined such that thesecond circumference recedes towards the septum distal surface.

In some examples, the sleeve is shaped to define a sleeve lumen, whereinthe fluid transfer connector septum comprises a septum subsurfaceportion housed inside the sleeve lumen.

In some examples, the connector has a longitudinal axis and the septumsubsurface portion comprises a recess formed to receive a protrusionmedially extending from the sleeve towards the longitudinal axis.

In some examples, the septum protruding portion has a length extendingaxially from the distal end of the sleeve to a septum distal surface,said length being at least 20 millimeters.

In some examples, the septum protruding portion has a length extendingaxially from the distal end of the sleeve to a septum distal surface,said length being at least 30 millimeters.

In some examples, the septum protruding portion has a length extendingaxially from the distal end of the sleeve to a septum distal surface,said length being in the range of at least 15-30 millimeters.

In some examples, the fluid transfer connector in accordance with thenineteenth aspect can include some or all of the features of the fluidtransfer connector according to the fourteenth to eighteenth aspects.

In some examples, the fluid transfer connector in accordance with thefourteenth to eighteenth aspects can include some or all of the featuresof the fluid transfer connector according to the nineteenth aspect.

There is provided in accordance with a twentieth aspect of the presentlydisclosed subject matter a fluid transfer connector extending between aconnector proximal end and a connector distal end and configured to beconnected to a fluid transfer unit at the connector proximal end, thefluid transfer connector comprising: a connector body extending from theconnector proximal end; and a septum extending from the connector bodyand having a septum protruding portion protruding from the connectorbody towards the connector distal end, said septum protruding portionbeing formed in a terraced-like shape.

In some examples, the septum protruding portion comprises a septumproximal portion having a first peripheral wall with a firstcircumference and a septum distal portion having a second peripheralwall with a second circumference, said second circumference beingsmaller than the first circumference.

In some examples, the second peripheral wall is inclined such that thesecond circumference recedes towards the connector distal end.

In some examples, the septum comprises a septum subsurface portionhoused inside the connector body.

In some examples, the fluid transfer connector in accordance with atwentieth aspect can include some or all of the features of the fluidtransfer connector according to the fourteenth to nineteenth aspects.

In some examples, the fluid transfer connector in accordance with thefourteenth to nineteenth aspects can include some or all of the featuresof the fluid transfer connector according to the twentieth aspect.

There is provided in accordance with a twenty first aspect of thepresently disclosed subject matter a robotic system operable fortransfer of fluid between a container and a fluid transfer assemblyaccessible via a fluid transfer unit and a fluid transfer connector,said fluid transfer connector being configured to facilitate connectionof the fluid transfer assembly with the container for said transfer offluid, the robotic system comprising: a controller; and a manipulatorcontrollable by the controller to hold and manipulate the fluid transferassembly, said manipulator being configured to hold the fluid transferassembly at the fluid transfer connector.

In some examples, the manipulator comprises a gripping arm having atleast one gripper element configured to grip a gripping portion of thefluid transfer connector.

In some examples, the manipulator comprises an engaging arm configuredto engage an engaging portion of the fluid transfer connector.

In some examples, the manipulator is configured to manipulate the fluidtransfer assembly while maintaining the fluid transfer unit free of holdby the manipulator.

In some examples, the manipulator is configured to manipulate the fluidtransfer assembly while holding the fluid transfer assembly at a portiondistant from the fluid transfer unit.

In some examples, the manipulator is configured to manipulate the fluidtransfer assembly to secure a contact between a fluid transfer connectorseptum of the fluid transfer connector and a container septum of thecontainer while holding the fluid transfer assembly at the fluidtransfer connector.

In some examples, the robotic system further comprises a fluid transferconnector according to any one of the fourteenth to twentieth aspects.

In some examples, the robotic system in accordance with twenty firstaspect can include some or all of the features of the robotic systemaccording to the first to thirteenth aspects.

In some examples, the robotic system according to the first tothirteenth aspects can include some or all of the features of therobotic system according to the twenty first aspect.

There is provided in accordance with an example, a method beingperformed by the robotic system of the twenty first aspect. The methodincludes a process for transferring fluid between a container accessiblevia a container-septum and a fluid transfer assembly accessible via afluid transfer connector, the method comprising operating a roboticsystem for controlling a manipulator of the robotic system forcontrolling a manipulator of the robotic system to hold the fluidtransfer connector and manipulate the fluid transfer assembly forperforming said transfer of fluid.

There is provided in accordance with a twenty second aspect of thepresently disclosed subject matter a robotic system operable fortransfer of fluid between a fluid transfer assembly and a firstcontainer and the fluid transfer assembly and a second container, therobotic system comprising: a first container holder configured forholding the first container and a second container holder configured forholding the second container, the first container holder being spacedapart by an arcuate path from the second container holder; a controller;and a rotatable manipulator, rotatable about its rotation axis andcomprising a gripping arm configured to grip the fluid transferassembly, said controller being configured to rotate the rotatablemanipulator for moving the gripping arm, while gripping the fluidtransfer assembly, between a first position and a second position alongthe arcuate path, the first position being aligned with the firstcontainer holder and the second position being aligned with the secondcontainer holder.

In some examples, the gripping arm is moved from the first position tothe second position only along the arcuate path.

In some examples, the gripping arm is moved from the first position tothe second position along the arcuate path in a single and continuousmotion.

In some examples, the first container holder is configured to hold thefirst container at a first distance from the rotation axis taken in afirst direction perpendicular thereto, and the second container holderis configured to hold the second container at a second distance from therotation axis taken in a second direction perpendicular thereto, saidfirst distance being equal to said second distance.

In some examples, the first and second directions define an arcuate pathangle therebetween, which corresponds to an arc length of the arcuatepath between the first and the second positions.

In some examples, the manipulator is configured to move at least a partof the fluid transfer assembly along a direction parallel to therotation axis when the fluid transfer assembly is at, at least one ofthe first and second positions.

In some examples, the manipulator is configured to establish a firstfluid communication between the fluid transfer assembly and the firstcontainer, when the first container is held by the first containerholder, and a second fluid communication between the fluid transferassembly and the second container, when the second container is held bythe second container holder.

In some examples, each of the first and second container is accessiblevia a respective container-septum, said fluid transfer assemblycomprises a gripping portion and a fluid transfer conduit configured totransfer fluid through the container-septum.

In some examples, the first and second containers comprise any one of avial and an IV bag.

In some examples, the rotation axis is a longitudinal axis of themanipulator.

In some examples, the robotic system further comprises a fluid transferconnector according to any one of the fourteenth to twentieth aspects.

In some examples, the robotic system in accordance with a twenty secondaspect can include some or all of the features of the robotic systemaccording to the first to thirteenth and twenty first aspects.

In some examples, the robotic system according to the first tothirteenth and twenty first aspects can include some or all of thefeatures of the robotic system according to the twenty second aspect.

There is provided in accordance with an example, a method beingperformed by the robotic system of the twenty second aspect.

There is provided in accordance with a twenty third aspect of thepresently disclosed subject matter a robotic system operable fortransfer of fluid between a container and a fluid transfer assemblywhich comprises: a syringe having a plunger flange and a fluid transferconduit extending at least partially along an injection axis, fortransferring the fluid upon displacement of the plunger flange, therobotic system comprising: a controller; and a manipulator controllableby the controller, the manipulator comprising: a plunger arm configuredto engage the plunger flange; a gripping arm configured for gripping agripping portion of the fluid transfer assembly, said plunger arm beingdisplaceable with respect to the gripping arm along the injection axisand being configured to be displaced together with the gripping armduring at least a portion of a movement of the manipulator.

In some examples, the controller is configured for operating themanipulator to: move the gripping arm to align the fluid transferassembly with the container, and move the plunger arm along theinjection axis to displace the plunger flange for transferring of thefluid between the container and the syringe.

In some examples, the manipulator is constructed to mechanically couplethe plunger arm with the gripping arm.

In some examples, the manipulator, including the plunger arm and thegripping arm, is formed as a monolithic structure.

In some examples, the controller is configured for controlling saidplunger arm so that: the plunger arm grips the plunger flange; and theplunger arm axially displaces the plunger flange for transferring thefluid between the syringe and the container.

In some examples, the manipulator has a central longitudinal axis andthe injection axis is positioned away from the central longitudinalaxis.

In some examples, the robotic system further comprises a fluid transferconnector according to any one of the fourteenth to twentieth aspects.

In some examples, the robotic system in accordance with a twenty thirdaspect can include some or all of the features of the robotic systemaccording to the first to thirteenth, twenty first and twenty secondaspects.

In some examples, the robotic system according to the first tothirteenth, twenty first and twenty second aspects can include some orall of the features of the robotic system according to the twenty thirdaspect.

There is provided in accordance with an example, a method beingperformed by the robotic system of the twenty third aspect.

Embodiments

A more specific description is provided in the Detailed Descriptionwhilst the following are non-limiting examples of different embodimentsof the presently disclosed subject matter.

1. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector septum, the robotic systemcomprising:

-   a controller; and-   a manipulator controllable by the controller and configured to    manipulate at least one of the container and the fluid transfer    assembly,-   the controller being configured to operate the manipulator to secure    contact between the container-septum and the fluid transfer    connector septum during at least a portion of the transfer of the    fluid.

2. The robotic system according to embodiment 1, wherein the controlleris further configured to control the manipulator to:

-   bring the container-septum and the fluid transfer connector septum    into contact; and-   perform said securing of the contact between the container-septum    and the fluid transfer connector septum by pressing at least one of    the container-septum and the fluid transfer connector septum onto    the other one of the container-septum and the fluid transfer    connector septum during at least a portion of the transfer of fluid.

3. The robotic system according to embodiment 1 or 2, wherein themanipulator comprises a pressing mechanism configured to ensure apredetermined compression threshold between the container-septum and thefluid transfer connector septum is reached before initiation of thetransfer of fluid, said reaching of the predetermined compressionthreshold being associated with said securing the contact.

4. The robotic system according to embodiment 3, wherein the pressingmechanism is further configured to ensure that the predeterminedcompression threshold between the container-septum and the fluidtransfer connector septum is maintained during at least a portion of thetransfer of fluid.

5. The robotic system according to embodiment 3 or 4, wherein thecontroller is configured to operate the manipulator to:

-   align the fluid transfer connector septum of the fluid transfer    assembly and the container-septum of the container;-   bring the fluid transfer connector septum and the container-septum    in contact with each other;-   press at least one of the fluid transfer connector septum and the    container-septum against the other one of the fluid transfer    connector septum and the container-septum to perform said securing    of the contact therebetween; and/or-   execute at least partial penetration of at least one of the fluid    transfer connector septum and the container-septum by a fluid    transfer conduit associated with a fluid transfer connector of the    fluid transfer assembly to enable the transfer of the fluid, wherein    the pressing mechanism is configured to ensure that the    predetermined compression threshold between the container-septum and    the fluid transfer connector septum is reached before said at least    partial penetration.

6. The robotic system according to any one of the preceding embodiments,wherein the manipulator comprises a gripping arm configured to grip agripping portion of at least one of the fluid transfer assembly and thecontainer.

7. The robotic system according to embodiment 6, wherein the grippingarm is configured to hold said at least one of the fluid transferassembly and the container at least partially along a vertical axis.

8. The robotic system according to embodiment 6 or 7, wherein thegripping arm is configured to be controllably movable to allow grabbingof the fluid transfer assembly from a fluid transfer assemblyrecirculating conveyor configured to store one or more fluid transferassemblies and/or to allow grabbing of the container from a containerrecirculating conveyor configured to store one or more containers.

9. The robotic system according to any one of embodiments 6 to 8,wherein the gripping arm is configured to be controllably movablerelative to a container holder configured to hold the container, and thegripping arm is configured to align the fluid transfer connector septumand the container-septum and bring the fluid transfer connector septumin contact with the container-septum when the gripping arm holds saidfluid transfer assembly.

10. The robotic system according to any one of embodiments 6 to 9,wherein the manipulator comprises an engaging arm configured to engagethe fluid transfer assembly at an engaging portion when the gripping armgrips the fluid transfer assembly, said engaging arm being configured tobe axially movable relative to said gripping arm.

11. The robotic system according to embodiment 10, wherein the engagingarm and the gripping arm are coupled such that the engaging arm and thegripping arm are operable to be controllably displaced either axiallytogether or axially relatively to each other.

12. The robotic system according to any one of embodiments 10 and 11,when dependent on embodiment 3 or 4, wherein the engaging arm isconfigured to engage a sleeve of a fluid transfer connector of the fluidtransfer assembly, the sleeve being fixedly coupled relative to thefluid transfer connector septum and the gripping arm is configured togrip a body member of the fluid transfer connector being fixedly coupledrelative to a fluid transfer conduit of the fluid transfer connector,the controller being configured to cause relative movement between thegripping arm and the engaging arm to cause the fluid transfer conduitand the fluid transfer connector septum to at least partially movetowards each other upon the predetermined compression threshold betweenthe container-septum and the fluid transfer connector septum is reached.

13. The robotic system according to embodiment 12, wherein themanipulator is configured to resist relative movement between thegripping arm and the engaging arm when an axial force below apredetermined pressing threshold is applied to cause said relativemovement, said predetermined pressing threshold being associated withthe predetermined compression threshold.

14. The robotic system according to embodiment 13, wherein the engagingarm and gripping arm are coupled via a resisting member opposing therelative movement of the gripping arm and the engaging arm towards eachother.

15. The robotic system according to embodiment 14, wherein the resistingmember is configured to cause the engaging arm and the gripping arm tomove away from each other after said transfer of fluid is complete.

16. The robotic system according to any one of embodiments 12 to 15,wherein the engaging arm is configured to abut on a radial stop at theengaging portion when the fluid transfer connector septum contacts thecontainer septum, and the manipulator is configured to cause a relativemovement between the gripping arm and the engaging arm only after thepredetermined pressing threshold force is applied, thereby pressing thefluid transfer connector septum to the container-septum for the contacttherebetween to reach the predetermined compression threshold before thefluid transfer conduit and the fluid transfer connector septum at leastpartially moves towards each other.

17. The robotic system according to any one of the precedingembodiments, further comprising a container holder configured to holdthe container along a container longitudinal axis.

18. The robotic system according to embodiment 17, wherein the containerholder comprises a vial holder configured to support at least one vialand/or an intravenous bag holder configured to support at least oneintravenous bag.

19. The robotic system according to any one of embodiments 17 and 18,wherein the manipulator is configured to move towards the containerholder.

20. The robotic system according to any one of embodiments 17 to 19,wherein the container holder is configured to move towards themanipulator.

21. The robotic system according to any one of embodiments 10 to 20,wherein the controller is further configured to rotate the gripping armand the engaging arm together around a rotation axis.

22. The robotic system according to any one of embodiments 10 to 21,wherein the controller is configured to control the engaging arm and thegripping arm such that:

-   the gripping arm grips a body member of the fluid transfer connector    being fixedly coupled relative to a fluid transfer conduit of a    fluid transfer connector, aligns the fluid transfer assembly with    the container, and brings the fluid transfer connector septum in    contact with the container-septum;-   the engaging arm engages a sleeve of the fluid transfer connector of    the fluid transfer assembly, the sleeve being fixedly coupled    relative to the fluid transfer connector septum, presses the fluid    transfer connector septum against the container-septum to perform    said securing of the contact therebetween; and/or-   the gripping arm causes a collapsible movement of the body member    and the sleeve towards each other, which executes at least partial    movement of the fluid transfer conduit and the fluid transfer    connector septum towards each other for facilitating the transfer of    the fluid.

23. The robotic system according to embodiment 22, wherein the grippingarm is further configured to apply a radial force on an external wall ofthe fluid transfer assembly and the controller is configured to controlthe gripping arm to selectively apply said radial force to press upon afluid transfer connector actuator of the fluid transfer assembly.

24. The robotic system according to any one of the precedingembodiments, wherein the fluid transfer assembly comprises a syringe,the robotic system further comprising a plunger arm configured tooperate a plunger of the syringe and wherein the controller isconfigured to control said plunger arm to:

-   grip a plunger flange portion of the plunger; and-   axially displace the plunger flange for transferring the fluid    between the syringe and the container.

25. The robotic system according to embodiment 22, wherein thecontroller is configured to control the engaging arm and the grippingarm such that:

-   following the transfer of the fluid, the gripping arm moves the body    member away from the sleeve; and-   the engaging arm and the gripping arm are distanced from the    container for disconnecting the fluid transfer connector septum from    the container-septum.

26. The robotic system according to embodiment 25, wherein thecontroller is configured to operate the gripping arm after fluidtransfer to move the body member away from the sleeve.

27. The robotic system according to embodiment 26 as dependent onembodiment 23, wherein the controller is configured to operate thegripping arm after the body member is moved away from the sleeve to stopapplying said radial force.

28. The robotic system according to embodiment 27, wherein thecontroller is configured to operate the gripping arm to perform thefollowing operations either simultaneously or successively:

-   to grip the body member, align the fluid transfer assembly with the    container and bring the fluid transfer connector septum in contact    with the container-septum; and-   to selectively apply said radial force so as to press upon the fluid    transfer connector actuator of the fluid transfer assembly.

29. The robotic system according to any one of embodiments 10 to 28,wherein the controller is configured to control the engaging arm and thegripping arm such that:

-   any one of the engaging arm and the gripping arm grips the fluid    transfer assembly, aligns the fluid transfer assembly with the    container and brings the fluid transfer connector septum in contact    with the container-septum; and-   any one of the engaging arm and the gripping arm presses the fluid    transfer connector septum against the container-septum to secure    contact therebetween.

30. The robotic system according to any one of embodiments 10 to 29,wherein the engaging arm and the gripping arm are arranged to contactthe fluid transfer assembly at the fluid transfer connector.

31. The robotic system according to any one of embodiments 10 to 30,wherein the engaging arm is formed with a pressing surface configured tobeing pressed onto a radial stop of the fluid transfer assembly toperform said securing of the contact between the container-septum andthe fluid transfer connector septum.

32. The robotic system according to embodiment 31, wherein the pressingsurface of the engaging arm comprises an arcuate portion dimensioned tosurround the fluid transfer assembly and to form a radial gap with anexternal wall of the fluid transfer assembly.

33. The robotic system according to embodiment 31, wherein the pressingsurface of the engaging arm is configured to mate with the outer surfaceof the fluid transfer assembly such that there is no radial gap betweenan external wall of the fluid transfer assembly and the pressingsurface.

34. The robotic system according to any one of embodiments 10 to 33,wherein the gripping arm comprises at least one projecting elementconfigured to apply a radial force on an external wall of the fluidtransfer assembly when the fluid transfer assembly is manipulated by therobotic system.

35. The robotic system according to embodiment 34, wherein theprojecting element of the gripping arm comprises a plate formed with anarcuate groove.

36. The robotic system according to any one of embodiments 34 and 35,wherein the gripping arm comprises two oppositely facing platescomprising a first pair and a second pair of projecting elementsconfigured to access a first pair and a second pair of openings on theexternal wall of the fluid transfer assembly.

37. The robotic system according to embodiment 36, wherein the twooppositely facing plates are configured to be spaced apart from eachother for forming a gap therebetween.

38. The robotic system according to embodiment 12 and embodiment 13-37,when dependent on embodiment 12, wherein the pressing mechanism isfurther configured to ensure that the predetermined compressionthreshold between the container-septum and the fluid transfer connectorseptum is maintained after the transfer of fluid is complete at leastuntil the fluid transfer conduit is moved away from the fluid transferconnector septum.

39. The robotic system according to any one of embodiments 1 to 38,further comprising a fluid transfer connector extending between aconnector proximal end configured to be connected to a fluid transferunit of the fluid transfer assembly and a connector distal endcomprising the fluid transfer connector septum, said fluid transferconnector being configured to establish fluid communication between thefluid transfer unit and the container for said transfer of fluid.

40. The robotic system according to embodiment 39, wherein the fluidtransfer connector comprises:

-   a connector body extending from the connector proximal end towards a    body distal end; and-   said fluid transfer connector septum comprising a septum protruding    portion extending from the body distal end towards the connector    distal end.

41. The robotic system according to embodiment 40, said fluid transferconnector septum comprising a septum proximal end positioned towards theconnector body and a septum distal end constituting the connector distalend.

42. The robotic system according to any one of embodiments 39 to 41,wherein the fluid transfer connector comprises a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication.

43. The robotic system according to embodiment 42, wherein themanipulator is configured to displace the fluid transfer connector intothe collapsed position after securing the contact between the fluidtransfer connector septum and the container septum.

44. The robotic system according to embodiment 42 or 43, when dependenton embodiment 3, wherein the manipulator is configured to displace thefluid transfer connector into the collapsed position after thepredetermined compression threshold is reached thereby securing thecontact between the fluid transfer connector septum and the containerseptum.

45. The robotic system according to any one of embodiments 42 to 44,wherein the fluid transfer connector comprises a locking mechanismconfigured to be displaced between a locked state at which the lockingmechanism prevents displacement of the fluid transfer connector into itscollapsed position and an unlocked state at which the locking mechanismallows displacement of the fluid transfer connector into its collapsedposition.

46. The robotic system according to embodiment 45, wherein themanipulator is configured to displace the locking mechanism into itsunlocked state after securing the contact between the fluid transferconnector septum and the container septum.

47. A method for transferring fluid between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector septum, the method, by operation of a robotic system,comprising:

-   bringing the container-septum of the container into contact with the    fluid transfer connector septum of the fluid transfer assembly;-   pressing at least one of the container-septum and fluid transfer    connector septum onto the other one of the container-septum and    fluid transfer connector septum and securing the contact    therebetween;-   transferring fluid through the container-septum and the fluid    transfer connector septum; and-   maintaining the secured contact between the container-septum and the    fluid transfer connector septum during at least a portion of the    transfer of the fluid.

48. The method according to embodiment 47, wherein said securing thecontact between the container-septum and the fluid transfer connectorseptum comprises pressing at least one of the container-septum and fluidtransfer connector septum onto the other one of the container-septum andfluid transfer connector septum at least until a predeterminedcompression threshold between the container-septum and the fluidtransfer connector syringe-septum is reached.

49. The method according to any one of embodiments 47 and 48, furthercomprising operating by a controller a manipulator of the robotic systemfor:

-   engaging the manipulator with a portion of at least one of the    container and the syringe assembly; and-   coaxially positioning the container-septum and the fluid transfer    connector septum.

50. The method according to embodiment 49, wherein pressing at least oneof the container-septum and fluid transfer connector septum onto theother one of the container-septum and fluid transfer connector septumcomprises moving a fluid transfer conduit associated with the fluidtransfer assembly and the fluid transfer connector septum at leastpartially towards each other.

51. The method according to any one of embodiments 47 to 50, whereinpressing at least one of the container-septum and fluid transferconnector septum onto the other one of the container-septum and fluidtransfer connector septum comprises advancing the manipulator towardsthe container.

52. The method according to any one of embodiments 47 to 51, whereinpressing at least one of the container-septum and fluid transferconnector septum onto the other one of the container-septum and fluidtransfer connector septum comprises advancing the container towards themanipulator.

53. The method according to any one of embodiments 47 to 52, whereinsecuring the contact between the container-septum and the fluid transferconnector septum comprises making the contact a tightly sealed contact.

54. The method according to any one of embodiments 47 to 53, furthercomprising operating by a controller a manipulator of the robotic systemfor engaging an engaging arm of the manipulator at a portion of thefluid transfer assembly away from the fluid transfer connector septum.

55. The method according to any one of embodiments 47 to 54, furthercomprising:

-   providing a fluid transfer connector including:    -   a body member, and    -   a sleeve arranged coaxially with the body member, said sleeve        and body member being movable relative to each other, the fluid        transfer connector septum being mounted at a distal end of the        sleeve;-   providing a gripping arm configured to grip at least a portion of    the fluid transfer assembly;-   controlling the gripping arm for coaxially positioning the gripping    arm, while gripping fluid transfer assembly, at a predetermined    axial distance from the container; and-   advancing the gripping arm towards the container for causing a    collapsible relative movement of the body member and the sleeve    towards each other.

56. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assembly, thefluid transfer assembly accessible via a fluid transfer connector havinga body member and a sleeve including a fluid transfer connector septum,the sleeve and the body member being configured to move relative to eachother upon activation of a locking mechanism, the robotic systemcomprising:

-   a controller; and-   a manipulator controllable by the controller and configured to    manipulate the fluid transfer assembly, the manipulator being    configured to both grip the fluid transfer assembly and activate the    locking mechanism,-   the controller being configured to operate the manipulator to move    the sleeve and the body member relative to each other upon    activating the locking mechanism and to transfer fluid between the    fluid transfer assembly and the container.

57. The robotic system according to embodiment 56, wherein thecontroller is configured to operate the manipulator to bring the fluidtransfer connector septum and the container-septum into contact witheach other.

58. The robotic system according to embodiment 57, wherein thecontroller is configured to operate the manipulator to secure thecontact between the container-septum and the fluid transfer connectorseptum during at least a portion of the transfer of the fluid.

59. The robotic system according to any one of embodiments 56 to 58,wherein the manipulator is configured to activate the locking mechanismby activating an actuator accessible through an external wall of thefluid transfer connector.

60. The robotic system according to any one of embodiments 56 to 59,wherein the manipulator comprises a gripping arm configured to grip agripping portion of the fluid transfer assembly.

61. The robotic system according to embodiment 60, wherein the grippingarm is configured to hold said fluid transfer assembly at leastpartially along a vertical axis.

62. The robotic system according to any one of embodiments 56 to 61,wherein the manipulator is configured to be controllably movable toallow grabbing of the fluid transfer assembly from a fluid transferassembly recirculating conveyor configured to store one or more fluidtransfer assemblies.

63. The robotic system according to any one of embodiments 56 to 62,wherein the manipulator arm is configured to be controllably movablerelative to a container holder configured to hold the container suchthat the manipulator is configured to align the fluid transfer connectorseptum and the container-septum and bring the fluid transfer connectorseptum in contact with the container-septum.

64. The robotic system according to embodiment 60 or any one ofembodiments 61 to 63, when dependent on embodiment 60, wherein themanipulator comprises an engaging arm configured to engage the fluidtransfer assembly at an engaging portion, said engaging arm beingconfigured to be axially movable relative to said gripping arm.

65. The robotic system according to embodiment 64, wherein the engagingarm and the gripping arm are coupled such that the engaging arm and thegripping arm are operable to be controllably displaced either axiallytogether or axially relatively to each other.

66. The robotic system according to any one of embodiments 64 and 65,the controller unit being configured to cause relative movement betweenthe gripping arm gripping the body member and the engaging arm engagingthe sleeve to move a fluid transfer conduit associated with the bodymember at least partially towards the fluid transfer connector septumwhen a predetermined compression threshold between the container-septumand the fluid transfer connector septum is reached.

67. The robotic system according to any one of embodiments 64 to 66,wherein the manipulator is configured to resist relative movementbetween the gripping arm and the engaging arm when an axial force belowa predetermined pressing threshold is applied to cause said relativemovement.

68. The robotic system according to any one of embodiments 64 to 67,wherein the engaging arm and gripping arm are coupled via a resistingmember that opposes the relative movement between the gripping arm andengaging arm towards each other.

69. The robotic system according to embodiment 68, wherein the resistingmember is configured to cause the engaging arm and the gripping arm tomove away from each other after said transfer of fluid is complete.

70. The robotic system according to any one of embodiments 64 to 69,wherein the engaging arm is configured to abut on a radial stop at thesleeve when the fluid transfer connector septum contacts the containerseptum, and the manipulator is configured to cause a relative movementbetween the gripping arm and the engaging arm, occurs only after apredetermined pressing threshold force is applied, thereby pressing thefluid transfer connector septum to the container-septum for the contacttherebetween to reach a predetermined compression threshold before afluid transfer conduit associated with the body member and the fluidtransfer connector septum at least partially move towards each other.

71. The robotic system according to any one of embodiments 64 to 70,further comprising a container holder configured to hold the containeralong a container longitudinal axis.

72. The robotic system according to embodiment 71, wherein the containerholder comprises a vial holder configured to support at least one vialand/or an intravenous bag holder configured to support at least oneintravenous bag.

73. The robotic system according to any one of embodiments 70 and 72,wherein the manipulator is configured to move towards the containerholder.

74. The robotic system according to any one of embodiments 70 to 73,wherein the container holder is configured to move towards themanipulator.

75. The robotic system according to any one of embodiments 64 to 74,wherein the controller is further configured to rotate the gripping armand the engaging arm together around a rotation axis.

76. The robotic system according to any one of embodiments 64 to 75,wherein the controller is configured to control the engaging arm and thegripping arm such that:

-   the gripping arm grips the body member, aligns the fluid transfer    assembly with the container and brings the fluid transfer connector    septum in contact with the container-septum;-   the engaging arm engages the sleeve and presses the fluid transfer    connector septum against the container-septum to secure contact    therebetween; and/or-   the gripping arm causes a collapsible movement of the body member    and the sleeve towards each other, which executes at least partial    movement of a fluid transfer conduit associated with the body member    and the fluid transfer connector septum towards each other for    facilitating the transfer of the fluid.

77. The robotic system according to embodiment 76, wherein the grippingarm is further configured to apply a radial force on an external wall ofthe fluid transfer assembly and the controller is configured to controlthe gripping arm to selectively apply said radial force so as to pressupon a fluid transfer connector actuator of the fluid transfer assembly.

78. The robotic system according to any one of embodiments 64 to 77,wherein the fluid transfer assembly comprises a syringe,

-   wherein the robotic system further comprises a plunger arm    configured to operate a plunger of the syringe, and-   wherein the controller is configured to control said plunger arm to:    -   grip a plunger flange portion of the plunger; and    -   axially displace the plunger flange for transferring the fluid        between the syringe and the container.

79. The robotic system according to any one of embodiments 64 to 78,wherein the controller is configured to control the engaging arm and thegripping arm such that:

-   the gripping arm moves the body member away from the sleeve    following the transfer of the fluid; and-   the engaging arm and the gripping arm are distanced from the    container for disconnecting the fluid transfer connector septum from    the container-septum.

80. The robotic system according to embodiment 79, wherein thecontroller is configured to operate the gripping arm after fluidtransfer to move the body member away from the sleeve.

81. The robotic system according to embodiment 80 when dependent onembodiment 77, wherein the controller is configured to operate thegripping arm after the body member is moved away from the sleeve to stopapplying said radial force.

82. The robotic system according to embodiment 81, wherein thecontroller is configured to operate the gripping arm to perform thefollowing operations either simultaneously or successively:

-   to grip the body member, align the fluid transfer assembly with the    container and bring the fluid transfer connector septum in contact    with the container-septum; and-   to selectively apply said radial force so as to press upon the fluid    transfer connector actuator of the fluid transfer assembly.

83. The robotic system according to any one of embodiments 64 to 82,wherein the controller is configured to control the engaging arm and thegripping arm such that:

-   any one of the engaging arm and the gripping arm grips the body    member, aligns the fluid transfer assembly with the container and    brings the fluid transfer connector septum in contact with the    container-septum;-   any one of the engaging arm and the gripping arm presses the fluid    transfer connector septum against the container-septum to secure    contact therebetween; and/or-   any one of the engaging arm and the gripping arm causes the relative    movement between the body member and the sleeve.

84. The robotic system according to any one of embodiments 64 to 83,wherein the engaging arm and the gripping arm are arranged to contactthe fluid transfer assembly at the fluid transfer connector.

85. The robotic system according to any one of embodiments 64 to 84,wherein the engaging arm is formed with a pressing surface configured tobeing pressed onto a radial stop of the fluid transfer assembly toperform securing the contact between the container-septum and the fluidtransfer connector septum.

86. The robotic system according to embodiment 85, wherein the pressingsurface of the engaging arm comprises an arcuate portion dimensioned tosurround the fluid transfer assembly and to form a radial gap with anexternal wall of the fluid transfer assembly.

87. The robotic system according to embodiment 86, wherein the pressingsurface of the engaging arm is configured to mate with the outer surfaceof the fluid transfer assembly such that there is no radial gap betweenthe external wall of the fluid transfer assembly and the pressingsurface.

88. The robotic system according to any one of embodiments 64 to 87,wherein the gripping arm comprises at least one projecting elementconfigured to apply a radial force on an external wall of the fluidtransfer assembly when the fluid transfer assembly is manipulated by therobotic system.

89. The robotic system according to embodiment 88, wherein theprojecting element of the gripping arm comprises a plate formed with anarcuate groove.

90. The robotic system according to embodiment 89, wherein the grippingarm comprises two oppositely facing plates comprising a first pair andsecond pair of projecting elements configured to access a first pair anda second pair of openings on the external wall of the fluid transferassembly.

91. The robotic system according to embodiment 90, wherein the twooppositely facing plates are configured to be spaced apart from eachother for forming a gap therebetween.

92. The robotic system according to any one of embodiments 56 to 91,further comprising a fluid transfer connector comprising:

-   a body member couplable to a fluid transfer unit of the fluid    transfer assembly at a unit coupling portion;-   a sleeve arranged coaxially relative to the body member;-   a fluid transfer connector septum mounted at a distal end of the    sleeve, the sleeve and the body member being configured to move    relative to each other between an extended position which is a    normal position and a collapsed position at which the fluid transfer    connector is configured to establish fluid communication between the    fluid transfer unit and the container for said transfer of fluid;    and-   a locking mechanism configured to switch between a locked state and    an unlocked state to selectively enable and prevent a relative    movement of the sleeve and the body member, wherein the locking    mechanism is configured to enable the relative movement between the    sleeve and the body member from the extended position to the    collapsed position upon activation of an actuator accessible through    an external wall of the fluid transfer connector.

93. The robotic system according to embodiment 92, wherein themanipulator is configured to grip the fluid transfer assembly and toswitch the locking mechanism from the locked state to the unlockedstate.

94. The robotic system according to embodiment 93, wherein themanipulator is configured to secure a contact between the containerseptum and the fluid transfer connector septum, said manipulator beingfurther configured to switch the locking mechanism into the unlockedstate and to displace the fluid transfer connector into the collapsedposition after securing the contact between the fluid transfer connectorseptum and the container septum.

95. A method for transferring fluid between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising:

-   controlling a manipulator of the robotic system to grip the fluid    transfer assembly and activate a locking mechanism associated with    establishment of fluid communication between the fluid transfer    assembly and the container;-   operating the manipulator to move a sleeve and a body member of the    fluid transfer connector relative to each other upon activating the    locking mechanism to establish said fluid communication; and-   transferring fluid between the fluid transfer assembly and the    container.

96. The method according to embodiment 95, wherein controlling themanipulator to activate the locking mechanism comprises activating anactuator of the locking mechanism.

97. The method according to any one of embodiments 95 and 96, furthercomprising operating the robotic system to control the manipulator tosecure a contact between the container septum and a fluid transferconnector septum of the fluid transfer connector.

98. The method according to embodiment 97, wherein controlling themanipulator to activate the locking mechanism comprises activating thelocking mechanism after said securing the contact between the containerseptum and the fluid transfer connector septum.

99. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector having a body member and asleeve including a fluid transfer connector septum, the sleeve and thebody member being configured to move relative to each other, the systemcomprising:

-   a container holder configured to support the container and to be    positioned at least partially coaxially with the fluid transfer    assembly;-   an engaging arm configured to engage one of the body member and the    sleeve; and-   a gripping arm configured to grip the other one of the body member    and the sleeve, said gripping arm and said engaging arm being    movable relative to each other.

100. The robotic system according to embodiment 99, wherein the engagingarm and the gripping arm are mechanically coupled to a primary drivingassembly, configured to simultaneously move the engaging arm and thegripping arm together while bringing at least one of the gripping armand the engaging arm to an outer surface of the fluid transfer assemblyfor pressing thereon.

101. The robotic system according to any one of embodiments 99 and 100,wherein the engaging arm is connected to the gripping arm via asecondary driving assembly, configured to cause said relative movementbetween the gripping arm and the engaging arm.

102. The robotic system according to any one of embodiments 99 to 101,wherein at least one of the gripping arm and the engaging arm comprisesa pressing surface configured to axially press upon a radial stop formedon an outer surface of the fluid transfer assembly to secure the fluidtransfer connector septum contact with the container-septum.

103. The robotic system according to embodiment 102, wherein thepressing surface is positioned at a gap from an external wall of thefluid transfer assembly.

104. The robotic system according to any one of embodiments 99 to 103,wherein the gripping arm is formed with an arcuate portion configured togrip an outer surface of the fluid transfer assembly and formed with atleast one prong, configured to access an actuator disposed in the fluidtransfer assembly and operable to selectively prevent and facilitate therelative movement between the body member and the sleeve.

105. The robotic system according to any one of embodiments 99 to 104,wherein the engaging arm is coupled to the gripping arm via a resistingmember configured to apply an axial force on the engaging arm forcausing the engaging arm to press upon an outer surface of the fluidtransfer assembly.

106. The robotic system according to embodiment 105, wherein theresisting member is configured to resist the relative movement of theengaging arm and the gripping arm towards each other.

107. The robotic system according to embodiment 106, wherein theresisting member is configured to displace the gripping arm and theengaging arm away from each other upon completion of said transfer offluid.

108. The robotic system according to any one of embodiments 99 to 107,wherein the gripping arm and engaging arm constitute part of amanipulator.

109. The robotic system according to any one of embodiments 99 to 108,further comprising a fluid transfer connector having a body member and asleeve including a fluid transfer connector septum, the sleeve and thebody member being configured to move relative to each other, wherein theengaging arm is configured to engage the sleeve and the gripping arm isconfigured to grip the body member.

110. The robotic system according to embodiment 109, wherein the sleevecomprises a radial stop protruding radially from the sleeve, said radialstop comprising a stop first surface facing the body member and anopposite stop second surface, wherein the engaging arm is configured toengage the stop first surface.

111. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising:

-   operating an engaging arm of the robotic system to engage a sleeve    of the fluid transfer connector;-   operating a gripping arm of the robotic system to grip a body member    of the fluid transfer connector;-   moving at least one of the engaging arm and the gripping arm towards    the other one of the engaging arm and the gripping arm for    establishing fluid communication between the fluid transfer assembly    and the container; and-   performing said transfer of fluid between the fluid transfer    assembly and the container.

112. The method according to embodiment 111, further comprising movingat least one of the engaging arm and the gripping arm away from theother one of the engaging arm and the gripping arm after completion ofsaid transfer of fluid.

113. A robotic system operable for transfer of fluid at least partiallyalong an injection axis between a container accessible via acontainer-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the robotic system comprising:

-   a controller; and-   a manipulator controllable by the controller, the manipulator    comprising:    -   a gripping arm configured to grip a gripping portion of the        fluid transfer assembly; and    -   an engaging arm configured to engage the fluid transfer assembly        at an engaging portion, at least one of said engaging arm and        said gripping arm being displaceable with respect to the other        one of said engaging arm and said gripping arm along the        injection axis, said engaging arm and said gripping arm being        configured to be displaced together during at least a portion of        a movement of the manipulator.

114. The robotic system according to embodiment 113, wherein thecontroller is configured to operate the gripping arm to bring a fluidtransfer connector septum of the fluid transfer connector in contactwith the container-septum, and operating the engaging arm for securingcontact between the container-septum and the fluid transfer connectorseptum during at least a portion of the transfer of the fluid.

115. The robotic system according to any one of embodiments 113 and 114,wherein the manipulator is constructed to mechanically couple theengaging arm with the gripping arm.

116. The robotic system according to any one of embodiments 113 to 115,wherein the manipulator, including the engaging arm and the grippingarm, is formed as a monolithic structure.

117. The robotic system according to any one of embodiments 113 to 116,wherein the manipulator has a central longitudinal axis and theinjection axis is positioned away from the central longitudinal axis.

118. The robotic system according to any one of embodiments 113 to 117,wherein the engaging arm is coupled to the gripping arm via a resistingmember configured to resist the relative movement of the engaging armand the gripping arm towards each other.

119. The robotic system according to embodiment 118, wherein theresisting member is configured to displace the gripping arm and theengaging arm away from each other upon completion of said transfer offluid.

120. The robotic system according to any one of embodiments 113 to 119,further comprising a fluid transfer connector having a body member and asleeve including a fluid transfer connector septum, the sleeve and thebody member being configured to move relative to each other, wherein theengaging arm is configured to engage the sleeve and the gripping arm isconfigured to grip the body member.

121. The robotic system according to embodiment 120, wherein the sleevecomprises a radial stop protruding radially from the sleeve, said radialstop comprising a stop first surface facing the body member and anopposite stop second surface, wherein the engaging arm is configured toengage the stop first surface.

122. A method for transferring fluid at least partially along aninjection axis between a container accessible via a container-septum anda fluid transfer assembly accessible via a fluid transfer connector, themethod, by operation of a robotic system, comprising:

-   operating an engaging arm of a manipulator of the robotic system to    engage an engaging portion of the fluid transfer assembly;-   operating a gripping arm of the manipulator to grip a gripping    portion of the fluid transfer assembly;-   moving the engaging arm and the gripping arm together along the    fluid transfer assembly with the container;-   moving at least one of the engaging arm and the gripping arm towards    the other one of the engaging arm and the gripping arm along the    injection axis for establishing fluid communication between the    fluid transfer assembly and the container; and-   performing said transfer of fluid between the fluid transfer    assembly and the container.

123. The method according to embodiment 122, further comprising movingat least one of the engaging arm and the gripping arm away from theother one of the engaging arm and the gripping arm after completion ofsaid transfer of fluid.

124. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector configured to establish fluidcommunication between the container and the fluid transfer assembly forsaid transfer of fluid, said fluid transfer connector comprising a bodymember and a sleeve displaceable relative to each other between anextended position, which is a normal position, and a collapsed position,at which the fluid transfer connector establishes said fluidcommunication, said fluid transfer connector comprising a fluid transferconnector septum positioned at the sleeve, the robotic systemcomprising:

-   a controller;-   a manipulator controllable by the controller and configured to    manipulate at least one of the container and the fluid transfer    assembly to bring the fluid transfer connector septum and the    container-septum into contact with each other and to selectively    displace the fluid transfer connector into its collapsed position    from the extended position; and-   a contact securing mechanism configured to prevent the manipulator    from displacing the fluid transfer connector into its collapsed    position from the extended position until a predetermined    compression threshold between the container-septum and the fluid    transfer connector septum is reached.

125. The robotic system according to embodiment 124, wherein themanipulator is configured to push at least one of the fluid transferconnector septum and the container-septum against the other one of thefluid transfer connector septum and the container-septum by acompression force with a variable magnitude.

126. The robotic system according to embodiment 125, wherein the contactsecuring mechanism is configured to prevent the manipulator fromdisplacing the fluid transfer connector into its collapsed position fromthe extended position at least until the compression force is less thanthe predetermined compression threshold.

127. The robotic system according to embodiment 125 or 126, wherein thecontact securing mechanism is configured to allow the manipulator todisplace the fluid transfer connector into its collapsed position fromthe extended position at least when the compression force is equal to ormore than the predetermined compression threshold.

128. The robotic system according to any one of embodiments 125 to 127,wherein the contact securing mechanism is configured to allow themanipulator to displace the fluid transfer connector into its collapsedposition following detection of an event indicative that the compressionforce is equal to or more than the predetermined compression threshold.

129. The robotic system according to any one of embodiments 124 to 128wherein the contact securing mechanism comprises a mechanical element.

130. The robotic system according to any one of embodiments 124 to 129,wherein the contact securing mechanism comprises a resisting memberconfigured to resist the manipulator displacing the fluid transferconnector into its collapsed position.

131. The robotic system according to embodiment 130, wherein themanipulator comprises an engaging arm configured to engage the sleeveand a gripping arm configured to grip the body member, said engaging armand gripping arm being configured to move relative to each other todisplace the fluid transfer connector between the extend and collapsedposition, wherein the engaging arm and the gripping arm are coupled toeach other via the resisting member.

132. The robotic system according to embodiment 131, wherein theengaging arm and the gripping arm are configured to move towards eachother to displace the fluid transfer connector into the collapsedposition upon commencement of deformation of the resisting member.

133. The robotic system according to embodiment 132, wherein theresisting member is configured to prevent said deformation until aminimum threshold force is applied thereon.

134. The robotic system according to any one of embodiments 132 and 133,when dependent on embodiment 128, wherein the event comprisescommencement of said deformation.

135. The robotic system according to according to any one of embodiments132 to 134, further comprising a sensor configured to detect saidcommencement of deformation and to generate a signal indicative thereof.

136. The robotic system according to any one of embodiments 130 to 135,wherein the resisting member is configured to cause the manipulator todisplace the fluid transfer connector into its extended position aftercompletion of said transfer of fluid.

137. The robotic system according to any one of embodiments 124 to 136,further comprising a fluid transfer connector configured to establishfluid communication between the container and the fluid transferassembly, said fluid transfer connector having a body member and asleeve including a fluid transfer connector septum, the sleeve and thebody member being displaceable relative to each other between anextended position, which is a normal position, and a collapsed position,at which the fluid transfer connector establishes said fluidcommunication.

138. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector comprising a fluid transfer connector septum, themethod, by operation of a robotic system, comprising:

-   operating a manipulator of the robotic system for manipulating at    least one of the container and the fluid transfer assembly to bring    the fluid transfer connector septum and the container-septum into    contact with each other;-   operating the manipulator for manipulating the fluid transfer    assembly to press the fluid transfer connector septum onto the    container-septum at least until a predetermined compression    threshold between the container-septum and the fluid transfer    connector septum is reached;-   operating the manipulator to displace, after the predetermined    compression threshold is reached, the fluid transfer connector into    its collapsed position, at which fluid communication between the    container and the fluid transfer assembly is established, from its    extended position, which is a normal position;-   performing said transfer of fluid between the fluid transfer    assembly and the container.

139. The method according to embodiment 138, further comprisingoperating a contact securing mechanism to prevent the manipulator fromdisplacing the fluid transfer connector into its collapsed position fromthe extended position at least until the predetermined compressionthreshold is reached.

140. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector, the robotic systemcomprising:

-   a controller;-   a manipulator operable by the controller and configured to    manipulate at least one of the container and the fluid transfer    assembly for establishing fluid communication therebetween;-   a sensor configured to monitor the operation of the manipulator and    transmit a signal indicative of said monitoring.

141. The robotic system according to embodiment 140, wherein themanipulator comprises:

-   a gripping arm configured to grip a gripping portion of the fluid    transfer connector; and-   an engaging arm configured to engage an engaging portion of the    fluid transfer connector, said engaging arm and said gripping arm    being configured to move relative to each other for selectively    establishing said fluid communication, wherein the sensor is    configured to monitor said relative movement of said engaging arm    and said gripping arm.

142. The robotic system according to embodiment 140, wherein the sensoris configured to monitor a relative position of at least one of theengaging arm and the gripping arm with respect to the other one of atleast one of the engaging arm and the gripping arm.

143. The robotic system according to any one of embodiments 141 and 142,wherein the engaging arm is coupled to the gripping arm via a resistingmember configured to resist said relative movement between the engagingarm and the gripping arm towards each other.

144. The robotic system according to embodiment 143, wherein the sensoris configured to monitor said resisting member.

145. The robotic system according to any one of embodiments 143 and 144,wherein the resisting member is configured to deform upon said relativemovement between the engaging arm and the gripping arm.

146. The robotic system according to embodiment 145, wherein the sensoris configured to monitor said deformation of the resisting member.

147. The robotic system according to any one of embodiments 145 and 146,wherein the resisting member is configured to prevent commencement ofsaid deformation at least until a force equal to or greater than apredetermined threshold is applied thereon.

148. The robotic system according to embodiment 147, wherein the sensoris configured to monitor said force.

149. The robotic system according to any one of embodiments 140 to 148,further comprising a motor configured to move the manipulator forperforming said operation of the manipulator, said motor beingconfigured to consume variable power for moving said manipulator,wherein the sensor is configured to monitor said power consumption.

150. The robotic system according to any one of embodiments 140 to 149,further comprising a fluid transfer connector configured to establishsaid fluid communication between the container and the fluid transferassembly, said fluid transfer connector comprising a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication, wherein saidmanipulator is configured to displace the fluid transfer connectorbetween its extended position and collapsed position.

151. The robotic system according to embodiment 150, wherein the fluidtransfer connector comprises a fluid transfer conduit associated withthe body member and a fluid transfer connector septum associated withthe sleeve, said fluid transfer connector being configured to establishsaid fluid communication between the container and the fluid transferassembly upon a fluid communication portion of the fluid transferconduit is positioned at a reference location, wherein the controller isconfigured to receive said signal indicative of said monitoring anddetermine at least based thereupon whether or not the fluidcommunication portion is positioned at the reference location.

152. The robotic system according to embodiment 151, when dependent onembodiment 142, wherein the body member comprises the gripping portionand the sleeve comprises the engaging portion, wherein the controller isconfigured to make said determination based on the relative position ofat least one of the engaging arm and the gripping arm with respect tothe other one of at least one of the engaging arm and the gripping arm.

153. The robotic system according to embodiment 151, when dependent onembodiment 146, wherein the body member comprises the gripping portionand the sleeve comprises the engaging portion, wherein the controller isconfigured to make said determination based on the deformation of theresisting member.

154. The robotic system according to embodiment 151, when dependent onembodiment 148, wherein the body member comprises the gripping portionand the sleeve comprises the engaging portion, wherein the controller isconfigured to make said determination based on said monitoring of saidforce.

155. The robotic system according to embodiment 151, when dependent onembodiment 149, wherein the body member comprises the gripping portionand the sleeve comprises the engaging portion, wherein the controller isconfigured to make said determination based on said monitoring of saidpower consumption.

156. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising:

-   controlling a manipulator of the robotic system to manipulate at    least one of the container and the fluid transfer assembly for    establishing fluid communication therebetween;-   monitoring by a sensor of the robotic system the operation of the    manipulator; and-   transmitting by the sensor a signal indicative of said monitoring.

157. The method according to embodiment 156, further comprising:

-   gripping by a gripping arm of the manipulator a gripping portion of    the fluid transfer assembly;-   engaging by an engaging arm of the manipulator an engaging portion    of the fluid transfer assembly;-   moving the engaging arm and the gripping arm relative to each other    for selectively establishing said fluid communication;-   monitoring by the sensor said relative movement of the engaging arm    and the gripping arm.

158. The method according to embodiment 157, wherein monitoring saidrelative movement of the engaging arm and the gripping arm comprisesmonitoring a relative position of at least one of the engaging arm andthe gripping arm with respect to the other one of the engaging arm andthe gripping arm.

159. The method according to any one of embodiments 157 and 158, whereinmonitoring said relative movement of the engaging arm and the grippingarm comprises monitoring a resisting member of the robotic systemconfigured to resist said relative movement between the engaging arm andthe gripping arm towards each other.

160. The method according to embodiment 159, wherein monitoring theresisting member comprises monitoring a deformation of the resistingmember.

161. The method according to any one of embodiments 159 and 160, whereinmonitoring the resisting member comprises monitoring a force beingapplied on the resisting member.

162. The method according to any one of embodiments 156 to 161, whereinmonitoring the operation of the manipulator comprises monitoring powerconsumption by a motor configured to move the manipulator for performingsaid operation.

163. The method according to any one of embodiments 156 to 162, whereinmonitoring the operation of the manipulator comprises monitoring arelative movement between a sleeve and a body member of a fluid transferconnector of the robotic system and determining at least based on saidmonitoring whether or not a fluid communication portion of a fluidtransfer conduit associated with the fluid transfer connector ispositioned at the reference location associated with establishment ofsaid fluid communication.

164. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector, the robotic systemcomprising:

-   a manipulator configured to manipulate at least one of the container    and the fluid transfer assembly for establishing fluid communication    therebetween;-   a motor configured to move the manipulator for establishing said    fluid communication, said motor being configured to consume variable    power for moving said manipulator; and-   a controller configured to monitor said power consumption and    controlling the motor based at least thereon.

165. The robotic system according to embodiment 164, wherein the motorcomprises a motor shaft operable to cause the movement of themanipulator and an encoder operable to detect a position of the motorshaft, wherein the controller is configured to control the motor basedon a combination of said power consumption and the position of the motorshaft.

166. The robotic system according to any one of embodiments 164 and 165,wherein the controller is configured to predetermine at least one of anupper and lower range of power consumption, and to generate an alertupon detection of a deviation of the power consumption from thepredetermined range.

167. The robotic system according to any one of embodiments 164 to 166,wherein the power consumption is measurable by a magnitude of currentapplied to the motor.

168. The robotic system according to any one of embodiments 164 to 167,further comprising a fluid transfer connector configured to establishsaid fluid communication between the container and the fluid transferassembly, said fluid transfer connector comprising a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication, wherein saidmanipulator is configured to displace the fluid transfer connectorbetween its extended position and collapsed position.

169. The robotic system according to embodiment 168, wherein the fluidtransfer connector comprises a fluid transfer conduit associated withthe body member and a fluid transfer connector septum associated withthe sleeve, said fluid transfer connector being configured to establishsaid fluid communication between the container and the fluid transferassembly upon a fluid communication portion of the fluid transferconduit is positioned at a reference location, wherein the controller isconfigured to monitor a position of the fluid communication portion andto control the motor based at least thereon.

170. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising:

-   controlling a manipulator of the robotic system to manipulate at    least one of the container and the fluid transfer assembly for    establishing fluid communication therebetween;-   operating a motor of the robotic system to move the manipulator for    establishing said fluid communication, wherein said operating the    motor comprises consuming variable power;-   monitoring by a controller of the robotic system said power    consumption; and-   controlling the motor based at least on said monitoring.

171. The method according to embodiment 170, further comprising:

-   operating a motor shaft of the motor to cause the movement of the    manipulator; and-   detecting by an encoder of the motor a position of the motor shaft;-   wherein said controlling the motor based at least on said monitoring    comprises controlling the motor based on a combination of said power    consumption and the position of the motor shaft.

172. The robotic system according to any one of embodiments 170 and 171,wherein monitoring said power consumption comprises predetermining atleast one of an upper and lower range of power consumption, and themethod further comprises generating an alert upon detection of adeviation of the power consumption from the predetermined range.

173. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector configured to establish fluidcommunication between the container and the fluid transfer assembly forsaid transfer of fluid, said fluid transfer connector comprising a bodymember and a sleeve displaceable relative to each other between anextended position, which is a normal position, and a collapsed position,at which the fluid transfer connector establishes said fluidcommunication, said fluid transfer connector comprising a fluid transferconnector septum positioned at a distal end of the sleeve and a fluidtransfer conduit extending from a proximal end of the body membertowards the fluid transfer connector septum, the robotic systemcomprising:

-   a controller; and-   a manipulator controllable by the controller, the manipulator being    configured to:    -   apply a variable positioning force to manipulate the fluid        transfer assembly through a positioning stage, during which the        manipulator positions the fluid transfer assembly and/or the        container to bring the fluid transfer connector septum and the        container septum in contact with each other; and    -   apply a variable penetration force to manipulate the fluid        transfer assembly and/or the container through a penetration        stage, during which at least a tip of the fluid transfer conduit        penetrates at least partially through at least one of the        container-septum and the fluid transfer connector septum,        wherein a minimum value of the variable penetration force is        greater than a maximum value of the variable positioning force.

174. The robotic system according to embodiment 173, wherein thepositioning stage commences with initiation of the manipulator movingthe fluid transfer assembly and/or the container and ends with themanipulator bringing the fluid transfer connector septum and thecontainer septum in contact with each other, and the penetration stagecommences with initiation of penetration of the tip of the fluidtransfer conduit at least partially through at least one of thecontainer-septum and the fluid transfer connector septum and ends withthe fluid transfer connector displacing into its collapsed position.

175. The robotic system according to any one of embodiments 173 and 174,wherein the manipulator is further controllable by the controller toapply a variable collapsing force to manipulate the fluid transferassembly through a collapsing stage, during which the sleeve and thebody member are displaced relative to each other to reduce a distancebetween the fluid transfer connector septum and the body member, whereinthe manipulator is further controllable by the controller to increasethe variable collapsing force continuously during at least a portion ofthe collapsing stage.

176. The robotic system according to embodiment 175, wherein thecollapsing stage commences with commencement of relative movement of thesleeve and the body member towards each other and ends with the fluidtransfer connector displacing into its collapsed position.

177. The robotic system according to embodiment 176, when dependent onembodiment 174, wherein the collapsing stage at least partially overlapswith the penetration stage.

178. The robotic system according to embodiment 177, wherein themanipulator is further controllable by the controller to increase thevariable collapsing force continuously during at least a portion of thecollapsing stage prior to commencement of the penetration stage.

179. The robotic system according to any one of embodiments 175 to 178,wherein an initial value of the variable collapsing force is greaterthan the maximum value of the variable positioning force.

180. The robotic system according to any one of embodiments 173 to 179,wherein the manipulator is further controllable by the controller toapply a variable securing force to manipulate at least one of the fluidtransfer assembly and the container through a contact securing stage,during which the manipulator secures the contact between the fluidtransfer connector septum and the container septum.

181. The robotic system according to embodiment 180, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid.

182. The robotic system according to embodiment 181, when dependent onembodiment 174, wherein the contact securing stage at least partiallyoverlaps with the penetration stage.

183. The robotic system according to any one of embodiments 181 and 182,when dependent on embodiment 176, wherein the contact securing stage atleast partially overlaps with the collapsing stage.

184. The robotic system according to embodiment 183, wherein themanipulator is further controllable by the controller to increase thevariable securing force at least prior to the commencement of thecollapsing stage.

185. The robotic system according to any one of embodiments 183 and 184,wherein an initial value of the variable collapsing force is greaterthan an initial value of the variable securing force.

186. The robotic system according to any one of embodiments 173 to 185,further comprising the fluid transfer connector.

187. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector configured to establish fluid communication betweenthe container and the fluid transfer assembly for said transfer offluid, said fluid transfer connector comprising a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication, said fluidtransfer connector comprising a fluid transfer connector septumpositioned at a distal end of the sleeve and a fluid transfer conduitextending from a proximal end of the body member towards the fluidtransfer connector septum, the method, by operation of a robotic system,comprising:

-   operating the robotic system to control a manipulator of the robotic    system, including    -   applying a variable positioning force to manipulate the fluid        transfer assembly through a positioning stage, during which the        manipulator positions the fluid transfer assembly and/or the        container to bring the fluid transfer connector septum and the        container septum in contact with each other; and    -   applying a variable penetration force to manipulate the fluid        transfer assembly and/or the container through a penetration        stage, during which at least a tip of the fluid transfer conduit        penetrates at least partially through at least one of the        container-septum and the fluid transfer connector septum,        wherein a minimum value of the variable penetration force is        greater than a maximum value of the variable positioning force.

188. The method according to embodiment 187, wherein the positioningstage commences with initiation of the manipulator moving the fluidtransfer assembly and/or the container and ends with the manipulatorbringing the fluid transfer connector septum and the container septum incontact with each other, and the penetration stage commences withinitiation of penetration of the tip of the fluid transfer conduit atleast partially through at least one of the container-septum and thefluid transfer connector septum and ends with the fluid transferconnector displacing into its collapsed position.

189. The method according to any one of embodiments 187 and 189, whereinthe method further comprises controlling the manipulator for applying avariable collapsing force to manipulate the fluid transfer assemblythrough a collapsing stage, during which the sleeve and the body memberare displaced relative to each other to reduce a distance between thefluid transfer connector septum and the body member, wherein the methodfurther comprises increasing the variable collapsing force continuouslyat least during a portion of the collapsing stage.

190. The method according to embodiment 189, wherein the collapsingstage commences with commencement of relative movement of the sleeve andthe body member towards each other and ends with the fluid transferconnector displacing into its collapsed position.

191. The method according to embodiment 190, when dependent onembodiment 188, wherein the collapsing stage at least partially overlapswith the penetration stage.

192. The method according to embodiment 191, wherein the method furthercomprises increasing the variable collapsing force continuously duringat least a portion of the collapsing stage prior to commencement of thepenetration stage.

193. The method according to any one of embodiments 189 to 192, whereinan initial value of the variable collapsing force is greater than themaximum value of the variable positioning force.

194. The method according to any one of embodiments 187 to 193, whereinthe method further comprises controlling the manipulator for applying avariable securing force to manipulate at least one of the fluid transferassembly and the container through a contact securing stage, duringwhich the manipulator secures the contact between the fluid transferconnector septum and the container septum.

195. The method according to embodiment 194, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid.

196. The method according to embodiment 195, when dependent onembodiment 188, wherein the contact securing stage at least partiallyoverlaps with the penetration stage.

197. The method according to any one of embodiments 195 and 196, whendependent on embodiment 190, wherein the contact securing stage at leastpartially overlaps with the collapsing stage.

198. The method according to embodiment 197, wherein the method furthercomprises increasing the variable securing force at least prior to thecommencement of the collapsing stage.

199. The method according to any one of embodiments 197 and 198, whereinan initial value of the variable collapsing force is greater than aninitial value of the variable securing force.

200. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector configured to establish fluidcommunication between the container and the fluid transfer assembly forsaid transfer of fluid, said fluid transfer connector comprising a bodymember and a sleeve displaceable relative to each other between anextended position, which is a normal position, and a collapsed position,at which the fluid transfer connector establishes said fluidcommunication, said fluid transfer connector comprising a fluid transferconnector septum positioned at a distal end of the sleeve, the roboticsystem comprising:

-   a controller; and-   a manipulator controllable by the controller, the manipulator being    configured to apply a variable collapsing force to manipulate the    fluid transfer assembly through a collapsing stage, during which the    sleeve and the body member are displaced relative to each other to    reduce a distance between the fluid transfer connector septum and    the body member,-   wherein the manipulator is further controllable by the controller    and configured to increase the variable collapsing force    continuously during at least a portion of the collapsing stage.

201. The robotic system according to embodiment 200, wherein themanipulator is further controllable by the controller and configured toincrease the variable collapsing force continuously during at least amajority of the collapsing stage.

202. The robotic system according to any one of embodiments 200 and 201,wherein the collapsing stage commences with commencement of relativemovement of the sleeve and the body member towards each other and endswith the fluid transfer connector displacing into its collapsedposition.

203. The robotic system according to any one of embodiments 200 to 202,wherein the manipulator is further controllable by the controller andconfigured to apply a variable penetration force to manipulate the fluidtransfer assembly and/or the container through a penetration stage,during which at least a tip of the fluid transfer conduit penetrates atleast partially through at least one of the container-septum and thefluid transfer connector septum.

204. The robotic system according to embodiment 203, wherein thepenetration stage commences with initiation of penetration of the tip ofthe fluid transfer conduit at least partially through at least one ofthe container-septum and the fluid transfer connector septum and endswith the fluid transfer connector displacing into its collapsedposition.

205. The robotic system according to embodiment 204, wherein thecollapsing stage at least partially overlaps with the penetration stage.

206. The robotic system according to embodiment 205, wherein themanipulator is further controllable by the controller and configured toincrease the variable collapsing force at least prior to thecommencement of the penetration stage.

207. The robotic system according to any one of embodiments 203 to 206,wherein an initial value of the variable penetration force is greaterthan an initial value of the variable collapsing force.

208. The robotic system according to any one of embodiments 200 to 207,wherein the manipulator is further controllable by the controller andconfigured to apply a variable positioning force to manipulate the fluidtransfer assembly through a positioning stage, during which themanipulator positions the fluid transfer assembly and/or the containerto bring the fluid transfer connector septum and the container septum incontact with each other.

209. The robotic system according to embodiment 208, wherein thepositioning stage commences with initiation of the manipulator movingthe fluid transfer assembly and/or the container and ends with themanipulator bringing the fluid transfer connector septum and thecontainer septum in contact with each other.

210. The robotic system according to any one of embodiments 208 and 209,wherein a minimum value of the variable collapsing force is greater thana maximum value of the variable positioning force.

211. The robotic system according to any one of embodiments 208 to 210,when dependent on embodiment 203, wherein a minimum value of thevariable penetration force is greater than a maximum value of thevariable positioning force.

212. The robotic system according to any one of embodiments 200 to 211,wherein the manipulator is further controllable by the controller andconfigured to apply a variable securing force to manipulate at least oneof the fluid transfer assembly and the container through a contactsecuring stage, during which the manipulator secures the contact betweenthe fluid transfer connector septum and the container septum.

213. The robotic system according to embodiment 212, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid.

214. The robotic system according to any one of embodiments 212 and 213,wherein the contact securing stage at least partially overlaps with thecollapsing stage.

215. The robotic system according to embodiment 214, wherein themanipulator is further controllable by the controller and configured toincrease the variable securing force at least prior to the commencementof the collapsing stage.

216. The robotic system according to any one of embodiments 214 and 215,wherein an initial value of the variable collapsing force is greaterthan an initial value of the variable securing force.

217. The robotic system according to any one of embodiments 200 to 216,further comprising the fluid transfer connector.

218. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector configured to establish fluid communication betweenthe container and the fluid transfer assembly for said transfer offluid, said fluid transfer connector comprising a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication, said fluidtransfer connector comprising a fluid transfer connector septumpositioned at a distal end of the sleeve and a fluid transfer conduitextending from a proximal end of the body member towards the fluidtransfer connector septum, the method, by operation of a robotic system,comprising:

-   operating the robotic system to control a manipulator of the robotic    system, including:    -   applying a variable collapsing force to manipulate the fluid        transfer assembly through a collapsing stage, during which the        sleeve and the body member are displaced relative to each other        to reduce a distance between the fluid transfer connector septum        and the body member; and    -   increasing the variable collapsing force continuously during at        least a portion of the collapsing stage.

219. The method according to embodiment 218, wherein the methodcomprises increasing the variable collapsing force continuously duringleast a majority of the collapsing stage.

220. The method according to any one of embodiments 218 and 219, whereinthe collapsing stage commences with commencement of relative movement ofthe sleeve and the body member towards each other and ends with thefluid transfer connector displacing into its collapsed position.

221. The method according to any one of embodiments 218 to 220, whereinthe method further comprises applying a variable penetration force tomanipulate the fluid transfer assembly and/or the container through apenetration stage, during which at least a tip of the fluid transferconduit penetrates at least partially through at least one of thecontainer-septum and the fluid transfer connector septum.

222. The method according to embodiment 221, wherein the penetrationstage commences with initiation of penetration of the tip of the fluidtransfer conduit at least partially through at least one of thecontainer-septum and the fluid transfer connector septum and ends withthe fluid transfer connector displacing into its collapsed position.

223. The method according to embodiment 222, wherein the collapsingstage at least partially overlaps with the penetration stage.

224. The method according to embodiment 223, wherein the method furthercomprises increasing the variable collapsing force at least prior to thecommencement of the penetration stage.

225. The method according to any one of embodiments 221 to 224, whereinan initial value of the variable penetration force is greater than aninitial value of the variable collapsing force.

226. The method according to any one of embodiments 218 to 225, whereinthe method further comprises applying a variable positioning force tomanipulate the fluid transfer assembly through a positioning stage,during which the manipulator positions the fluid transfer assemblyand/or the container to bring the fluid transfer connector septum andthe container septum in contact with each other.

227. The method according to embodiment 226, wherein the positioningstage commences with initiation of the manipulator moving the fluidtransfer assembly and/or the container and ends with the manipulatorbringing the fluid transfer connector septum and the container septum incontact with each other.

228. The method according to any one of embodiments 226 and 227, whereina minimum value of the variable collapsing force is greater than amaximum value of the variable positioning force.

229. The method according to any one of embodiments 226 to 228, whendependent on embodiment 221, wherein a minimum value of the variablepenetration force is greater than a maximum value of the variablepositioning force.

230. The method according to any one of embodiments 218 to 229, whereinthe method further comprises applying a variable securing force tomanipulate at least one of the fluid transfer assembly and the containerthrough a contact securing stage, during which the manipulator securesthe contact between the fluid transfer connector septum and thecontainer septum.

231. The method according to embodiment 230, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid.

232. The method according to any one of embodiments 230 and 231, whereinthe contact securing stage at least partially overlaps with thecollapsing stage.

233. The method according to embodiment 232, wherein the methodcomprises increasing the variable securing force at least prior to thecommencement of the collapsing stage.

234. The method according to any one of embodiments 232 and 233, whereinan initial value of the variable collapsing force is greater than aninitial value of the variable securing force.

235. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector configured to establish fluidcommunication between the container and the fluid transfer assembly forsaid transfer of fluid, said fluid transfer connector comprising a bodymember and a sleeve displaceable relative to each other between anextended position, which is a normal position, and a collapsed position,at which the fluid transfer connector establishes said fluidcommunication, said fluid transfer connector comprising a fluid transferconnector septum positioned at a distal end of the sleeve, the roboticsystem comprising:

-   a controller; and-   a manipulator controllable by the controller and configured to:    -   apply a variable securing force to manipulate at least one of        the fluid transfer assembly and the container through a contact        securing stage, during which the manipulator secures the contact        between the fluid transfer connector septum and the container        septum; and    -   apply a variable collapsing force to manipulate the fluid        transfer assembly through a collapsing stage, during which the        sleeve and the body member are displaced relative to each other        to reduce a distance between the fluid transfer connector septum        and the body member, wherein an initial value of the variable        collapsing force is greater than an initial value of the        variable securing force.

236. The robotic system according to embodiment 235, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid, and thecollapsing stage commences with commencement of relative movement of thesleeve and the body member towards each other and ends with the fluidtransfer connector displacing into its collapsed position.

237. The robotic system according to embodiment 236, wherein the contactsecuring stage at least partially overlaps with the collapsing stage.

238. The robotic system according to embodiment 237, wherein themanipulator is further controllable by the controller and configured toincrease the variable securing force at least prior to the commencementof the collapsing stage.

239. The robotic system according to any one of embodiments 235 to 238,wherein the manipulator is further controllable by the controller andconfigured to apply a variable positioning force to manipulate the fluidtransfer assembly through a positioning stage, during which themanipulator positions the fluid transfer assembly and/or the containerto bring the fluid transfer connector septum and the container septum incontact with each other.

240. The robotic system according to embodiment 239, wherein thepositioning stage commences with initiation of the manipulator movingthe fluid transfer assembly and/or the container and ends with themanipulator bringing the fluid transfer connector septum and thecontainer septum in contact with each other.

241. The robotic system according to any one of embodiments 239 and 240,wherein a minimum value of the variable collapsing force is greater thana maximum value of the variable positioning force.

242. The robotic system according to any one of embodiments 235 to 241,wherein the manipulator is further controllable by the controller andconfigured to apply a variable penetration force to manipulate the fluidtransfer assembly and/or the container through a penetration stage,during which at least a tip of the fluid transfer conduit penetrates atleast partially through at least one of the container-septum and thefluid transfer connector septum.

243. The robotic system according to embodiment 242, wherein thepenetration stage commences with initiation of penetration of the tip ofthe fluid transfer conduit at least partially through at least one ofthe container-septum and the fluid transfer connector septum and endswith the fluid transfer connector displacing into its collapsedposition.

244. The robotic system according to embodiment 243, wherein thecollapsing stage at least partially overlaps with the penetration stage.

245. The robotic system according to any one of embodiments 243 and 244,wherein the contact securing stage at least partially overlaps with thepenetration stage.

246. The robotic system according to embodiment 245, wherein themanipulator is further controllable by the controller and configured toincrease the variable collapsing force at least prior to thecommencement of the penetration stage.

247. The robotic system according to any one of embodiments 242 to 246,wherein an initial value of the variable penetration force is greaterthan an initial value of the variable collapsing force.

248. The robotic system according to any one of embodiments 235 to 247,further comprising the fluid transfer connector.

249. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector configured to establish fluid communication betweenthe container and the fluid transfer assembly for said transfer offluid, said fluid transfer connector comprising a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication, said fluidtransfer connector comprising a fluid transfer connector septumpositioned at a distal end of the sleeve and a fluid transfer conduitextending from a proximal end of the body member towards the fluidtransfer connector septum, the method, by operation of a robotic system,comprising:

-   operating a robotic system to control a manipulator of the robotic    system, including:    -   applying a variable securing force to manipulate at least one of        the fluid transfer assembly and the container through a contact        securing stage, during which the manipulator secures the contact        between the fluid transfer connector septum and the container        septum; and    -   applying a variable collapsing force to manipulate the fluid        transfer assembly through a collapsing stage, during which the        sleeve and the body member are displaced relative to each other        to reduce a distance between the fluid transfer connector septum        and the body member, wherein an initial value of the variable        collapsing force is greater than an initial value of the        variable securing force.

250. The method according to embodiment 249, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid, and thecollapsing stage commences with commencement of relative movement of thesleeve and the body member towards each other and ends with the fluidtransfer connector displacing into its collapsed position.

251. The method according to embodiment 250, wherein the contactsecuring stage at least partially overlaps with the collapsing stage.

252. The robotic system according to embodiment 251, wherein the methodfurther comprises increasing the variable securing force at least priorto the commencement of the collapsing stage.

253. The method according to any one of embodiments 249 to 252, whereinthe method further comprises applying a variable positioning force tomanipulate the fluid transfer assembly through a positioning stage,during which the manipulator positions the fluid transfer assemblyand/or the container to bring the fluid transfer connector septum andthe container septum in contact with each other.

254. The method according to embodiment 253, wherein the positioningstage commences with initiation of the manipulator moving the fluidtransfer assembly and/or the container and ends with the manipulatorbringing the fluid transfer connector septum and the container septum incontact with each other.

255. The method according to any one of embodiments 253 and 254, whereina minimum value of the variable collapsing force is greater than amaximum value of the variable positioning force.

256. The method according to any one of embodiments 249 to 255, whereinthe method further comprises applying a variable penetration force tomanipulate the fluid transfer assembly and/or the container through apenetration stage, during which at least a tip of the fluid transferconduit penetrates at least partially through at least one of thecontainer-septum and the fluid transfer connector septum.

257. The method according to embodiment 256, wherein the penetrationstage commences with initiation of penetration of the tip of the fluidtransfer conduit at least partially through at least one of thecontainer-septum and the fluid transfer connector septum and ends withthe fluid transfer connector displacing into its collapsed position.

258. The method according to embodiment 257, wherein the collapsingstage at least partially overlaps with the penetration stage.

259. The method according to any one of embodiments 257 and 258, whereinthe contact securing stage at least partially overlaps with thepenetration stage.

260. The method according to embodiment 259, wherein the method furthercomprises increasing the variable collapsing force at least prior to thecommencement of the penetration stage.

261. The method according to any one of embodiments 256 to 260, whereinan initial value of the variable penetration force is greater than aninitial value of the variable collapsing force.

262. A robotic system operable for transfer of fluid between a containeraccessible via a container-septum and a fluid transfer assemblyaccessible via a fluid transfer connector configured to establish fluidcommunication between the container and the fluid transfer assembly forsaid transfer of fluid, said fluid transfer connector comprising a bodymember and a sleeve displaceable relative to each other between anextended position, which is a normal position, and a collapsed position,at which the fluid transfer connector establishes said fluidcommunication, said fluid transfer connector comprising a fluid transferconnector septum positioned at a distal end of the sleeve, the roboticsystem comprising:

-   a controller; and-   a manipulator controllable by the controller and configured to:    -   apply a variable positioning force to manipulate the fluid        transfer assembly through a positioning stage, during which the        manipulator positions the fluid transfer assembly and/or the        container to bring the fluid transfer connector septum and the        container septum in contact with each other; and    -   apply a variable collapsing force to manipulate the fluid        transfer assembly through a collapsing stage, during which the        sleeve and the body member are displaced relative to each other        to reduce a distance between the fluid transfer connector septum        and the body member, wherein an initial value of the variable        collapsing force is greater than a maximum value of the variable        positioning force.

263. The robotic system according to embodiment 262, wherein thepositioning stage commences with initiation of the manipulator movingthe fluid transfer assembly and/or the container and ends with themanipulator bringing the fluid transfer connector septum and thecontainer septum in contact with each other, and the collapsing stagecommences with commencement of relative movement of the sleeve and thebody member towards each other and ends with the fluid transferconnector displacing into its collapsed position.

264. The robotic system according to embodiment 263, wherein a minimumvalue of the variable collapsing force is greater than a maximum valueof the variable positioning force.

265. The robotic system according to any one of embodiments 262 to 264,wherein the manipulator is further controllable by the controller andconfigured to apply a variable securing force to manipulate at least oneof the fluid transfer assembly and the container through a contactsecuring stage, during which the manipulator secures the contact betweenthe fluid transfer connector septum and the container septum.

266. The robotic system according to embodiment 265, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid.

267. The robotic system according to any one of embodiments 265 and 266,wherein the contact securing stage at least partially overlaps with thecollapsing stage.

268. The robotic system according to embodiment 267, wherein themanipulator is further controllable by the controller and configured toincrease the variable securing force at least prior to the commencementof the collapsing stage.

269. The robotic system according to any one of embodiments 267 and 268,wherein an initial value of the variable collapsing force is greaterthan an initial value of the variable securing force.

270. The robotic system according to any one of embodiments 262 to 269,wherein the manipulator is further controllable by the controller andconfigured to apply a variable penetration force to manipulate the fluidtransfer assembly and/or the container through a penetration stage,during which at least a tip of the fluid transfer conduit penetrates atleast partially through at least one of the container-septum and thefluid transfer connector septum.

271. The robotic system according to embodiment 270, wherein thepenetration stage commences with initiation of penetration of the tip ofthe fluid transfer conduit at least partially through at least one ofthe container-septum and the fluid transfer connector septum and endswith the fluid transfer connector displacing into its collapsedposition.

272. The robotic system according to embodiment 271, wherein thecollapsing stage at least partially overlaps with the penetration stage.

273. The robotic system according to embodiment 272, wherein themanipulator is further controllable by the controller and configured toincrease the variable collapsing force at least prior to thecommencement of the penetration stage.

274. The robotic system according to any one of embodiments 270 to 273,wherein an initial value of the variable penetration force is greaterthan an initial value of the variable collapsing force.

275. The robotic system according to any one of embodiments 270 to 274,wherein a minimum value of the variable penetration force is greaterthan a maximum value of the variable positioning force.

276. The robotic system according to any one of embodiments 262 to 275,further comprising the fluid transfer connector.

277. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector configured to establish fluid communication betweenthe container and the fluid transfer assembly for said transfer offluid, said fluid transfer connector comprising a body member and asleeve displaceable relative to each other between an extended position,which is a normal position, and a collapsed position, at which the fluidtransfer connector establishes said fluid communication, said fluidtransfer connector comprising a fluid transfer connector septumpositioned at a distal end of the sleeve and a fluid transfer conduitextending from a proximal end of the body member towards the fluidtransfer connector septum, the method, by operation of a robotic system,comprising:

-   operating a robotic system to control a manipulator of the robotic    system, including:    -   applying a variable positioning force to manipulate the fluid        transfer assembly through a positioning stage, during which the        manipulator positions the fluid transfer assembly and/or the        container to bring the fluid transfer connector septum and the        container septum in contact with each other; and    -   applying a variable collapsing force to manipulate the fluid        transfer assembly through a collapsing stage, during which the        sleeve and the body member are displaced relative to each other        to reduce a distance between the fluid transfer connector septum        and the body member, wherein an initial value of the variable        collapsing force is greater than a maximum value of the variable        positioning force.

278. The robotic system according to embodiment 277, wherein thepositioning stage commences with initiation of the manipulator movingthe fluid transfer assembly and/or the container and ends with themanipulator bringing the fluid transfer connector septum and thecontainer septum in contact with each other, and the collapsing stagecommences with commencement of relative movement of the sleeve and thebody member towards each other and ends with the fluid transferconnector displacing into its collapsed position.

279. The robotic system according to embodiment 278, wherein a minimumvalue of the variable collapsing force is greater than a maximum valueof the variable positioning force.

280. The robotic system according to any one of embodiments 277 to 279,wherein the method further comprises applying a variable securing forceto manipulate at least one of the fluid transfer assembly and thecontainer through a contact securing stage, during which the manipulatorsecures the contact between the fluid transfer connector septum and thecontainer septum.

281. The robotic system according to embodiment 280, wherein the contactsecuring stage commences with the manipulator bringing the fluidtransfer connector septum and the container septum in contact with eachother and ends with completion of the transfer of fluid.

282. The robotic system according to any one of embodiments 280 and 281,wherein the contact securing stage at least partially overlaps with thecollapsing stage.

283. The robotic system according to embodiment 282, wherein the methodfurther comprises increasing the variable securing force at least priorto the commencement of the collapsing stage.

284. The robotic system according to any one of embodiments 282 and 283,wherein an initial value of the variable collapsing force is greaterthan an initial value of the variable securing force.

285. The robotic system according to any one of embodiments 282 to 284,wherein the method further comprises applying a variable penetrationforce to manipulate the fluid transfer assembly and/or the containerthrough a penetration stage, during which at least a tip of the fluidtransfer conduit penetrates at least partially through at least one ofthe container-septum and the fluid transfer connector septum.

286. The robotic system according to embodiment 285, wherein thepenetration stage commences with initiation of penetration of the tip ofthe fluid transfer conduit at least partially through at least one ofthe container-septum and the fluid transfer connector septum and endswith the fluid transfer connector displacing into its collapsedposition.

287. The robotic system according to embodiment 286, wherein thecollapsing stage at least partially overlaps with the penetration stage.

288. The robotic system according to embodiment 287, wherein the methodfurther comprises increasing the variable collapsing force at leastprior to the commencement of the penetration stage.

289. The robotic system according to any one of embodiments 285 to 288,wherein an initial value of the variable penetration force is greaterthan an initial value of the variable collapsing force.

290. The robotic system according to any one of embodiments 285 to 289,wherein a minimum value of the variable penetration force is greaterthan a maximum value of the variable positioning force.

291. A robotic system operable for transfer of fluid between a containerand a fluid transfer assembly, the robotic system comprising:

-   a controller; and-   a manipulator controllable by the controller, the manipulator    comprising:    -   a gripping arm configured to grip a gripping portion of the        fluid transfer assembly; and    -   a supporting arm configured to support a supporting portion of        the fluid transfer assembly at least prior to the gripping arm        gripping the gripping portion.

292. The robotic system according to embodiment 291, wherein the roboticsystem is operable for transfer of fluid at least partially along aninjection axis, and the supporting arm is configured to be stationarywith respect to the injection axis.

293. The robotic system according to embodiment 291 or 292, wherein thegripping arm is configured to be displaceable with respect to thesupporting arm, and the supporting arm is configured to be stationarywith respect to the gripping arm.

294. The robotic system according to any one of embodiments 291 to 293,wherein the manipulator further comprises a plunger arm configured toengage a plunger flange portion of a fluid transfer unit of the fluidtransfer assembly.

295. The robotic system according to any one of embodiments 291 to 294,wherein the manipulator further comprises an engaging arm configured toengage an engaging portion of the fluid transfer assembly.

296. The robotic system according to embodiment 295, wherein theengaging arm is configured to be displaceable with respect to thesupporting arm and the supporting arm is configured to be stationarywith respect to the engaging arm.

297. The robotic system according to any one of embodiments 291 to 296,wherein the manipulator comprises a body and the supporting armcomprises a projection projecting from the body.

298. A robotic system operable for transfer of fluid between a containerand a fluid transfer assembly comprising a plunger flange portion, therobotic system comprising:

-   a controller; and-   a manipulator controllable by the controller, the manipulator    comprising a plunger support including at least a first plunger    holding element and a second plunger holding element, the first    plunger holding element being configured to accommodate a first    plunger flange portion sized with a first flange dimension and the    second plunger holding element being configured to accommodate a    second plunger flange portion sized with a second flange dimension,    different from the first flange dimension.

299. The robotic system according to embodiment 298, wherein the firstplunger holding element comprises a first recess configured to receivetherein the first plunger flange portion, said first recess being formedwith a first receiving space having a first recess dimensioncorresponding to the first flange dimension, and the second plungerholding element comprises a second recess configured to receive thereinthe second plunger flange portion, said second recess being formed witha second receiving space having a second recess dimension correspondingto the second flange dimension and different from the first recessdimension.

300. The robotic system according to embodiment 298 or 299, wherein theplunger support further includes a third plunger holding elementconfigured to accommodate a third plunger flange portion sized with athird flange dimension different from the first and the second flangedimensions, the third plunger holding element comprising a third recessconfigured to receive therein the third plunger flange portion, saidthird recess being formed with a third receiving space having a thirdrecess dimension corresponding to the third flange dimension anddifferent from the first and second recess dimensions.

301. A fluid transfer connector, comprising:

-   a body member couplable to a fluid transfer unit at a unit coupling    portion, the body member being shaped to define a body lumen;-   a fluid transfer conduit extending axially from the unit coupling    portion into the body lumen, the fluid transfer conduit being    configured to establish fluid communication with the fluid transfer    unit when the fluid transfer unit is coupled to the unit coupling    portion;-   a sleeve arranged coaxially relative to the body member;-   a fluid transfer connector septum mounted at a distal end of the    sleeve,-   the sleeve and the body member being configured to move relative to    each other between an extended position and a collapsed position;    and-   a locking mechanism configured to switch between a locked state and    an unlocked state for selectively enabling and preventing the    relative movement of the sleeve and the body member, wherein the    locking mechanism is configured to enable the relative movement    between the sleeve and the body member from the extended position to    the collapsed position upon activation of an actuator accessible    through an external wall of the fluid transfer connector.

302. The fluid transfer connector according to embodiment 301, whereinthe actuator is actuatable by application of a radial force thereon.

303. The fluid transfer connector according to any one of embodiments301 and 302, wherein the actuator comprises an internal portion,disposed at least partially within one of the sleeve and the bodymember, and an actuation portion which is accessible via an openingformed on the other one of the sleeve and the body member, and

wherein application of a radial force on the actuation portion inducesactuation of the locking mechanism at least from the locked state to theunlocked state for facilitating the movement of the body member withrespect to the sleeve at least from the extended position to thecollapsed position.

304. The fluid transfer connector according to any one of embodiments301 to 303, wherein the external wall of the syringe connector comprisesa protective surface configured to prevent manual access to theactuator.

305. The fluid transfer connector according to embodiment 304 whendependent on embodiment 303, wherein the protective surface comprisesone or more protection elements surrounding the opening.

306. The fluid transfer connector according to any one of embodiments301 to 305, wherein a fluid transfer connector inner surface isconfigured for axial, slidable movement of the actuator therealong forfacilitating the movement between the extended position and thecollapsed position.

307. The fluid transfer connector according to embodiment 306, whereinthe actuator is configured:

-   to be pressable by a radial force, thereby switching from the locked    state to the unlocked state at the extended position; and-   for subsequent slidable axial movement along the inner surface for    transitioning from the extended position to the collapsed position.

308. The fluid transfer connector according to any one of embodiments301 to 307, wherein the fluid transfer connector septum comprises athroughgoing bore extending from a septum proximal surface to a septumdistal surface and dimensioned for receiving the fluid transfer conduit.

309. The fluid transfer connector according to any one of embodiments301 to 308, wherein the fluid transfer connector septum is formed as amonolith.

310. The fluid transfer connector according to any one of embodiments301 to 309, wherein the external wall of the fluid transfer connectorcomprises a peripheral wall of the sleeve and terminates at a distaledge of the peripheral wall, said peripheral wall distal edge beingaxially spaced away from a mounting portion of the sleeve forming a gaptherebetween, said sleeve mounting portion configured to mount the fluidtransfer connector septum thereon.

311. The fluid transfer connector according to embodiment 310, whereinthe peripheral wall is connected to the mounting portion via one or morebeams.

312. The fluid transfer connector according to embodiment 311, whereinthe fluid transfer connector has a longitudinal axis and the one or morebeams comprise two oppositely facing beams such that the septum mountingportion extends along a plane perpendicular to the longitudinal axis inbetween the two oppositely facing beams.

313. A fluid transfer connector, comprising:

-   a body member couplable to a fluid transfer unit at a unit coupling    portion, the body member being shaped to define a body lumen;-   a fluid transfer conduit extending axially from the unit coupling    portion into the body lumen, the fluid transfer unit being    configured to establish fluid communication with the fluid transfer    unit when the fluid transfer unit is coupled to the unit coupling    portion;-   a sleeve arranged coaxially relative to the body member;-   a fluid transfer connector septum mounted at a distal end of the    sleeve,-   the sleeve and the body member being configured to move relative to    each other between an extended position and a collapsed position;    and-   a locking mechanism configured to switch between a locked state and    an unlocked state for selectively enabling and preventing the    relative movement of the sleeve and the body member, wherein the    locking mechanism is configured to enable the relative movement    between the sleeve and the body member from the extended position to    the collapsed position upon activation of an actuator, wherein said    actuator is actuatable irrespective of an axial force applied onto    the fluid transfer connector septum.

314. The fluid transfer connector according to embodiment 313, whereinsaid actuator is actuatable irrespective of the axial force applied ontothe fluid transfer connector septum by a container septum.

315. The fluid transfer connector according to any one of embodiments313 and 314, wherein said actuator is accessible through an externalwall of the syringe connector.

316. The fluid transfer connector according to embodiment 315, whereinthe actuator is actuatable by application of a radial force thereon.

317. The fluid transfer connector according to any one of embodiments315 and 316, wherein the actuator comprises an internal portion,disposed at least partially within one of the sleeve and the bodymember, and an actuation portion which is accessible via an openingformed on the other one of the sleeve and the body member, and whereinapplication of a radial force on the actuation portion induces actuationof the locking mechanism at least from the locked state to the unlockedstate for facilitating the movement of the body member with respect tothe sleeve at least from the extended position to the collapsedposition.

318. The fluid transfer connector according to any one of embodiments313 to 317, wherein an external wall of the syringe connector comprisesa protective surface configured to prevent manual access to theactuator.

319. The fluid transfer connector according to embodiment 318, whereinthe protective surface comprises one or more protection elementssurrounding the opening.

320. The fluid transfer connector according to embodiment 319, wherein afluid transfer connector inner surface is configured for axial, slidablemovement of the actuator therealong for facilitating the movementbetween the extended position and the collapsed position.

321. The fluid transfer connector according to embodiment 320, whereinactuator is configured:

-   to be pressable by a radial force, thereby switching from the locked    state to the unlocked state at the extended position; and-   for subsequent slidable axial movement along the inner surface for    transitioning from the extended position to the collapsed position.

322. The fluid transfer connector according to any one of embodiments313 to 321, wherein the fluid transfer connector septum comprises athroughgoing bore extending from a septum proximal surface to a septumdistal surface and dimensioned for receiving the fluid transfer conduit.

323. The fluid transfer connector according to any one of embodiments313 to 322, wherein the fluid transfer connector septum is formed as amonolith.

324. The fluid transfer connector according to any one of embodiments313 to 323, wherein the external wall of the fluid transfer connectorcomprises a peripheral wall of the sleeve and terminates at a distaledge of the peripheral wall, said peripheral wall distal edge beingaxially spaced away from a mounting portion of the sleeve forming a gaptherebetween, said sleeve mounting portion configured to mount the fluidtransfer connector septum thereon.

325. The fluid transfer connector according to embodiment 324, whereinthe peripheral wall is connected to the mounting portion via one or morebeams.

326. The fluid transfer connector according to embodiment 325, whereinthe fluid transfer connector has a longitudinal axis and the one or morebeams comprise two oppositely facing beams such that the septum mountingportion extends along a plane perpendicular to the longitudinal axis inbetween the two oppositely facing beams.

327. The fluid transfer connector according to any one of embodiments315 to 326, wherein the locking mechanism is configured to preventmanual access to the actuator.

328. A fluid transfer connector, comprising:

-   a body member couplable to a fluid transfer unit at a unit coupling    portion, the body member being shaped to define a body lumen    comprising a longitudinal axis of the fluid transfer connector;-   a fluid transfer conduit extending axially from the unit coupling    portion into the body lumen, the fluid transfer unit being    configured to establish fluid communication with the fluid transfer    unit when the fluid transfer unit is coupled to the unit coupling    portion;-   a sleeve arranged coaxially relative to the body member and    comprising a fluid transfer connector septum mounted at a distal end    of the sleeve, the sleeve and the body member being configured to    move relative to each other between an extended position and a    collapsed position; and-   a locking mechanism configured to switch between a locked state and    an unlocked state for selectively enabling and preventing the    relative movement of the sleeve and the body member, wherein the    locking mechanism in its locked state is configured to prevent the    relative movement between the sleeve and the body member from the    extended position to the collapsed position by an axial force    applied on at least one of the body member and the sleeve in a    direction parallel to the longitudinal axis.

329. The fluid transfer connector according to embodiment 328, whereinthe locking mechanism is configured to switch from the locked state tothe unlocked state upon application of a radial force applied thereon ina direction perpendicular to the longitudinal axis, and to enable in itsunlocked state the relative movement of the sleeve and the body member.

330. The fluid transfer connector according to embodiment 328 or 329,wherein the locking mechanism comprises an actuator configured toprevent the locking mechanism from switching into its unlocked statefrom the locked state in response to said axial force.

331. The fluid transfer connector according to embodiment 330, whendependent on embodiment 329, wherein the actuator is configured toswitch the locking mechanism from the locked state into the unlockedstate in response to said radial force being applied thereon.

332. The fluid transfer connector according to embodiment 330 or 331,wherein the actuator comprises a lockable member and one of the sleeveand the body member comprises a locking member configured to selectivelyengage the lockable member in the locked state of the locking mechanism,said lockable member being configured to prevent its release from thelocking member by said axial force.

333. The fluid transfer connector according to embodiment 332, whendependent on embodiment 329, wherein the lockable member is configuredto be released from the locking member in response to said radial force.

334. A fluid transfer connector, comprising:

-   a body member couplable to a fluid transfer unit at a unit coupling    portion, the body member being shaped to define a body lumen;-   a fluid transfer conduit extending axially from the unit coupling    portion into the body lumen, the fluid transfer conduit being    configured to establish fluid communication with the fluid transfer    unit when the fluid transfer unit is coupled to the unit coupling    portion;-   a sleeve arranged coaxially relative to the body member;-   a fluid transfer connector septum mounted at a distal end of the    sleeve, the sleeve and the body member being configured to move    relative to each other between an extended position in which the    fluid transfer connector septum is at an extended distance from the    unit coupling portion and an intermediate position in which the    fluid transfer connector septum is at an intermediate distance,    smaller than the extended distance, from the unit coupling portion,    smaller than the second distance, from the unit coupling portion;    and-   a locking mechanism configured to switch between a locked state and    an unlocked state to selectively enable and prevent a relative    movement of the sleeve and the body member at the extended position    and the intermediate position.

335. The fluid transfer connector according to embodiment 334, whereinthe sleeve and the body member are configured to move relative to eachother between at least one of the extended position and the intermediateposition and a collapsed position in which the fluid transfer connectorseptum is at a collapsed distance, smaller than the intermediatedistance, from the unit coupling portion.

336. The fluid transfer connector according to embodiment 335, whereinthe sleeve and the body member are configured to move axially relativeto each other to transition from at least one of the extended positionand the intermediate position to the collapsed position.

337. The fluid transfer connector according to any one of embodiments334 to 336, the locking mechanism is configured to selectively enablethe movement of the sleeve relative to the body member from at least oneof the extended position and the intermediate position upon activationof an actuator accessible through an external wall of the fluid transferconnector.

338. The fluid transfer connector according to embodiment 337, whereinthe actuator is actuatable by application of a radial force thereon.

339. The fluid transfer connector according to any one of embodiments337 and 338, wherein the actuator comprises an internal portion,disposed at least partially within one of the sleeve and the bodymember, and an actuation portion which is accessible via an openingformed on the other one of the sleeve and the body member, and whereinapplication of a radial force on the actuation portion induces actuationof the locking mechanism at least from the locked state to the unlockedstate for facilitating the movement of the body member with respect tothe sleeve from at least one of the extended position and theintermediate position.

340. The fluid transfer connector according to embodiment 339, whereinan external wall of the syringe connector comprises a protective surfaceconfigured to prevent manual access to the actuator.

341. The fluid transfer connector according to embodiment 340, whereinthe protective surface comprises one or more protection elementssurrounding the opening.

342. The fluid transfer connector according to embodiment 341, wherein afluid transfer connector inner surface is configured for axial, slidablemovement of the actuator therealong to facilitate the movement betweenthe extended position and the collapsed position.

343. The fluid transfer connector according to embodiment 342, whereinthe actuator is configured:

-   to be pressable by a radial force, thereby switching from the locked    state to the unlocked state at, at least one of the extended    position and the intermediate position; and-   for subsequent slidable axial movement along the inner surface for    transitioning between the extended position and the intermediate    position.

344. The fluid transfer connector according to any one of embodiments337 to 343, wherein the fluid transfer connector septum comprises athoroughgoing bore extending from a septum proximal surface to a septumdistal surface and dimensioned for receiving the fluid transfer conduit.

345. The fluid transfer connector according to any one of embodiments337 to 344, wherein the fluid transfer connector septum is formed as amonolith.

346. The fluid transfer connector according to any one of embodiments337 to 345, wherein the external wall of the fluid transfer connectorcomprises a peripheral wall of the sleeve and terminates at a distaledge of the peripheral wall, said peripheral wall distal edge beingaxially spaced away from a mounting portion of the sleeve forming a gaptherebetween, said sleeve mounting portion configured to mount the fluidtransfer connector septum thereon.

347. The fluid transfer connector according to embodiment 346, whereinthe peripheral wall is connected to the mounting portion via one or morebeams.

348. The fluid transfer connector according to embodiment 347, whereinthe fluid transfer connector has a longitudinal axis and the one or morebeams comprise two oppositely facing beams such that the septum mountingportion extends along a plane perpendicular to the longitudinal axis inbetween the two oppositely facing beams.

349. The fluid transfer connector according to any one of embodiments337 to 348, wherein the locking mechanism is configured to preventmanual access to the actuator.

350. A fluid transfer connector comprising:

-   a body member couplable to a fluid transfer unit at a unit coupling    portion, the body member being shaped to define a body lumen;-   a fluid transfer conduit extending axially from the unit coupling    portion into the body lumen, the fluid transfer conduit being    configured to establish fluid communication with the fluid transfer    unit when the fluid transfer unit is connected to the unit coupling    portion;-   a sleeve arranged coaxially relative to the body member;-   a fluid transfer connector septum mounted at a distal end of the    sleeve;-   the sleeve and the body member being configured to move relative to    each other between an intermediate position in which the fluid    transfer connector septum is at an intermediate distance from the    unit coupling portion and a collapsed position in which the fluid    transfer connector septum is at a collapsed distance, smaller than    the intermediate distance, from the unit coupling portion; and-   a locking mechanism configured to switch between a locked state and    an unlocked state to selectively enable and prevent a relative    movement of the sleeve and the body member at the intermediate    state, said locking mechanism being configured to selectively enable    the relative movement of the sleeve and the body member upon    activation of an actuator, at least to transition from the    intermediate position to the collapsed position.

351. The fluid transfer connector according to embodiment 350, whereinthe sleeve and the body member are configured to move relative to eachother between at least one of the intermediate position and thecollapsed position and an extended position in which the fluid transferconnector septum is at an extended distance, greater than theintermediate distance, from the unit coupling portion.

352. The fluid transfer connector according to any one of embodiments350 and 351, wherein the locking mechanism comprises the actuator andsaid actuator includes an actuation portion accessible through anexternal wall of the fluid transfer connector.

353. The fluid transfer connector according to embodiment 352, whereinthe actuator is actuatable by application of a radial force thereon.

354. The fluid transfer connector according to any one of embodiments350 to 353, wherein the actuator comprises an internal portion, disposedat least partially within one of the sleeve and the body member, and anactuation portion which is accessible via an opening formed on the otherone of the sleeve and the body member, and wherein application of aradial force on the actuation portion induces actuation of the lockingmechanism at least from the locked state to the unlocked state forfacilitating the movement of the body member with respect to the sleeveat least from the intermediate position to the collapsed position.

355. The fluid transfer connector according to embodiment 354, whereinan external wall of the syringe connector comprises a protective surfaceconfigured to prevent manual access to the actuator.

356. The fluid transfer connector according to embodiment 355, whereinthe protective surface comprises one or more protection elementssurrounding the opening.

357. The fluid transfer connector according to embodiment 356, wherein afluid transfer connector inner surface is configured for axial, slidablemovement of the actuator therealong for facilitating the movementbetween the extended position and the collapsed position.

358. The fluid transfer connector according to embodiment 357, whereinthe protruding portion is configured:

-   to be pressable by a radial force, thereby switching from the locked    state to the unlocked state at the intermediate position; and-   for subsequent slidable axial movement along the inner surface for    transitioning between the intermediate position and the collapsed    position.

359. The fluid transfer connector according to any one of embodiments350 to 358, wherein the fluid transfer connector septum comprises athoroughgoing bore extending from a septum proximal surface to a septumdistal surface and dimensioned for receiving the fluid transfer conduit.

360. The fluid transfer connector according to any one of embodiments350 to 359, wherein the fluid transfer connector septum is formed as amonolith.

361. The fluid transfer connector according to any one of embodiments350 to 360, wherein the external wall of the fluid transfer connectorcomprises a peripheral wall of the sleeve and terminates at a distaledge of the peripheral wall, said peripheral wall distal edge beingaxially spaced away from a mounting portion of the sleeve forming a gaptherebetween, said sleeve mounting portion configured to mount the fluidtransfer connector septum thereon.

362. The fluid transfer connector according to embodiment 361, whereinthe peripheral wall is connected to the mounting portion via one or morebeams.

363. The fluid transfer connector according to embodiment 362, whereinthe fluid transfer connector has a longitudinal axis and the one or morebeams comprise two oppositely facing beams such that the septum mountingportion extends along a plane perpendicular to the longitudinal axis inbetween the two oppositely facing beams.

364. The fluid transfer connector according to any one of embodiments350 to 363, wherein the locking mechanism is configured to preventmanual access to the actuator.

365. The fluid transfer connector according to embodiment 351 or any oneof embodiments 352 to 364 when dependent on embodiment 351, wherein thelocking mechanism is configured to selectively enable the movement ofthe sleeve relative to the body member upon activation of the actuator,to transition from any one or more of:

-   the extended position to the intermediate position;-   the intermediate position to the collapsed position; and-   the collapsed position back to the intermediate position or the    extended position.

366. A fluid transfer connector comprising:

-   a sleeve having a sleeve distal end; and-   a fluid transfer connector septum mounted at the sleeve distal end    and having a septum protruding portion axially protruding from the    sleeve, said septum protruding portion being formed in a    terraced-like shape.

367. The fluid transfer connector according to embodiment 366, whereinthe septum protruding portion comprises a septum proximal portion havinga first peripheral wall comprising a first circumference and a septumdistal portion having a second peripheral wall comprising a secondcircumference, said second circumference being smaller than the firstcircumference.

368. The fluid transfer connector according to embodiment 367, whereinthe second peripheral wall is inclined such that the secondcircumference recedes towards the septum distal surface.

369. The fluid transfer connector according to any one of embodiments366 to 368, said sleeve being shaped to define a sleeve lumen, whereinthe fluid transfer connector septum comprises a septum subsurfaceportion housed inside the sleeve lumen.

370. The fluid transfer connector according to embodiment 369, whereinthe fluid transfer connector has a longitudinal axis and the septumsubsurface portion comprises a recess formed to receive a protrusionmedially extending from the sleeve towards the longitudinal axis.

371. The fluid transfer connector according to any one of embodiments366 to 370, wherein the septum protruding portion has a length extendingaxially from the distal end of the sleeve to a septum distal surface,said length being at least 20 millimeters.

372. The fluid transfer connector according to any one of embodiments366 to 371, wherein the septum protruding portion has a length extendingaxially from the distal end of the sleeve to a septum distal surface,said length being at least 30 millimeters.

373. The fluid transfer connector according to any one of embodiments366 to 372, wherein the septum protruding portion has a length extendingaxially from the distal end of the sleeve to a septum distal surface,said length being in the range of at least 15-30 millimeters.

374. A fluid transfer connector extending between a connector proximalend and a connector distal end and configured to be connected to a fluidtransfer unit at the connector proximal end, the fluid transferconnector comprising:

-   a connector body extending from the connector proximal end; and-   a septum extending from the connector body and having a septum    protruding portion protruding from the connector body towards the    connector distal end, said septum protruding portion being formed in    a terraced-like shape.

375. The fluid transfer connector according to embodiment 374, whereinthe septum protruding portion comprises a septum proximal portion havinga first peripheral wall with a first circumference and a septum distalportion having a second peripheral wall with a second circumference,said second circumference being smaller than the first circumference.

376. The fluid transfer connector according to embodiment 375, whereinthe second peripheral wall is inclined such that the secondcircumference recedes towards the connector distal end.

377. The fluid transfer connector according to any one of embodiments374 to 376, wherein the septum comprises a septum subsurface portionhoused inside the connector body.

378. A robotic system operable for transfer of fluid between a containerand a fluid transfer assembly accessible via a fluid transfer unit and afluid transfer connector, said fluid transfer connector being configuredto facilitate connection of the fluid transfer assembly with thecontainer for said transfer of fluid, the robotic system comprising:

-   a controller; and-   a manipulator controllable by the controller and configured to hold    and manipulate the fluid transfer assembly, said manipulator being    configured to hold the fluid transfer assembly at the fluid transfer    connector.

379. The robotic system according to embodiment 378, wherein themanipulator comprises a gripping arm having at least one gripper elementconfigured to grip a gripping portion of the fluid transfer connector.

380. The robotic system according to embodiment 378 or 379, wherein themanipulator comprises an engaging arm configured to engage an engagingportion of the fluid transfer connector.

381. The robotic system according to any one of embodiments 378 to 380,wherein the manipulator is configured to manipulate the fluid transferassembly while maintaining the fluid transfer unit free of hold by themanipulator.

382. The robotic system according to any one of embodiments 378 to 381,wherein the manipulator is configured to manipulate the fluid transferassembly while holding the fluid transfer assembly at a portion distantfrom the fluid transfer unit.

383. The robotic system according to any one of embodiments 378 to 382,wherein the manipulator is configured to manipulate the fluid transferassembly to secure a contact between a fluid transfer connector septumof the fluid transfer connector and a container septum of the containerwhile holding the fluid transfer assembly at the fluid transferconnector.

384. The robotic system according to any one of embodiments 378 to 383,further comprising a fluid transfer connector configured to connect to afluid transfer unit of the fluid transfer assembly and to facilitateconnection of the fluid transfer unit with the container for saidtransfer of fluid.

385. The robotic system according to embodiment 384, when dependent onembodiment 379, wherein the fluid transfer connector comprises agripping portion configured to be gripped by the gripping arm of themanipulator.

386. The robotic system according to embodiment 385, wherein thegripping portion comprises at least one grip-able element configured tobe gripped by the gripper element of the gripping arm.

387. The robotic system according to embodiment 386, wherein the atleast one grip-able element comprises a protrusion and the gripperelement comprises a corresponding recess configured to receive thereinat least partially said protrusion.

388. The robotic system according to embodiment 386, wherein the gripperelement comprises a protrusion and the grip-able element comprises acorresponding recess configured to receive therein at least partiallysaid protrusion.

389. The robotic system according to any one of embodiments 384 to 388,wherein the fluid transfer connector comprises a fluid transferconnector septum, and the manipulator is configured to secure a contactbetween the fluid transfer connector septum and a container septum ofthe container.

390. A method for transferring fluid between a container accessible viaa container-septum and a fluid transfer assembly accessible via a fluidtransfer connector, the method, by operation of a robotic system,comprising operating the robotic system by controlling a manipulator ofthe robotic system to hold the fluid transfer connector and manipulatethe fluid transfer assembly for performing said transfer of fluid.

391. A robotic system operable for transfer of fluid between a fluidtransfer assembly and a first container and the fluid transfer assemblyand a second container, the robotic system comprising:

-   a first container holder configured to hold the first container and    a second container holder configured to hold the second container,    the first container holder being spaced apart by an arcuate path    from the second container holder;-   a controller; and-   a rotatable manipulator, rotatable about its rotation axis and    comprising a gripping arm configured to grip the fluid transfer    assembly, said controller being configured to rotate the rotatable    manipulator for moving the gripping arm, while gripping the fluid    transfer assembly, between a first position and a second position    along the arcuate path, the first position being aligned with the    first container holder and the second position being aligned with    the second container holder.

392. The robotic system according to embodiment 391, wherein thegripping arm is moved from the first position to the second positiononly along the arcuate path.

393. The robotic system according to embodiment 391 or 392, wherein thegripping arm is moved from the first position to the second positionalong the arcuate path in a single and continuous motion.

394. The robotic system according to any one of embodiments 391 to 393,wherein the first container holder is configured to hold the firstcontainer at a first distance from the rotation axis taken in a firstdirection perpendicular thereto, and the second container holder isconfigured to hold the second container at a second distance from therotation axis taken in a second direction perpendicular thereto, saidfirst distance being equal to said second distance.

395. The robotic system according to embodiment 394, wherein the firstand second directions define an arcuate path angle therebetween, whichcorresponds to an arc length of the arcuate path between the first andthe second positions.

396. The robotic system according to any one of embodiments 391 to 395,wherein the manipulator is configured to move at least a part of thefluid transfer assembly along a direction parallel to the rotation axiswhen the fluid transfer assembly is at, at least one of the first andsecond positions.

397. The robotic system according to any one of embodiments 391 to 396,wherein the manipulator is configured to establish a first fluidcommunication between the fluid transfer assembly and the firstcontainer, when the first container is held by the first containerholder, and a second fluid communication between the fluid transferassembly and the second container, when the second container is held bythe second container holder.

398. The robotic system according to any one of embodiments 391 to 397,wherein each of the first and second container is accessible via arespective container-septum, said fluid transfer assembly comprises agripping portion and a fluid transfer conduit configured to transferfluid through the container-septum.

399. The robotic system according to any one of embodiments 391 to 398,wherein the first and second containers comprise any one of a vial andan IV bag.

400. The robotic system according to any one of embodiments 391 to 399,wherein the rotation axis is a longitudinal axis of the manipulator.

401. A robotic system operable for transfer of fluid between a containerand a fluid transfer assembly which comprises: a syringe having aplunger flange and a fluid transfer conduit extending at least partiallyalong an injection axis, for transferring the fluid upon displacement ofthe plunger flange, the robotic system comprising:

-   a controller; and-   a manipulator controllable by the controller, the manipulator    comprising:    -   a plunger arm configured to engage the plunger flange; and    -   a gripping arm configured to grip a gripping portion of the        fluid transfer assembly, said plunger arm being displaceable        with respect to the gripping arm along the injection axis and        being configured to be displaced together with the gripping arm        during at least a portion of a movement of the manipulator.

402. The robotic system according to embodiment 401, wherein thecontroller is configured to operate the manipulator to:

-   move the gripping arm to align the fluid transfer assembly with the    container, and-   move the plunger arm along the injection axis to displace the    plunger flange for transferring of the fluid between the container    and the syringe.

403. The robotic system according to embodiment 401 or 402, wherein themanipulator is constructed to mechanically couple the plunger arm withthe gripping arm.

404. The robotic system according to any one of embodiments 401 to 403wherein the manipulator, including the plunger arm and the gripping arm,is formed as a monolithic structure.

405. The robotic system according to any one of embodiments 401 to 404,wherein the controller is configured to control said plunger arm suchthat:

-   the plunger arm grips the plunger flange; and-   the plunger arm axially displaces the plunger flange for    transferring the fluid between the syringe and the container.

406. The robotic system according to any one of embodiments 401 to 405,wherein the manipulator has a central longitudinal axis and theinjection axis is positioned away from the central longitudinal axis.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to better understand the subject matter that is disclosedherein and to exemplify how it may be carried out in practice, exampleswill now be described, by way of non-limiting example only, withreference to the accompanying drawings, in which:

FIG. 1A is a block diagram illustration of a fluid transfer stationwithin a robotic pharmaceutical preparation system according to anexample of the presently disclosed subject matter;

FIG. 1B is a block diagram illustration of some elements of a syringeconnector configured to be deployed with a syringe used for transferringa fluid in the robotic pharmaceutical preparation system, according toan example of the presently disclosed subject matter;

FIGS. 2A-F are illustrations of a syringe connector configured to bedeployed with a syringe used for transferring a fluid in the roboticpharmaceutical preparation system, shown at an extended position at afront view, in a partially disassembled state (2A), in an assembledstate (2B), a cross-sectional illustration of FIGS. 2B (2C); and a sideview in a partially disassembled state (2D), in an assembled state (2E)and a cross-sectional illustration of FIG. 2E (2F), according to anexample of the presently disclosed subject matter;

FIG. 2G is a side view, cross-sectional illustration of the syringeconnector shown at an intermediate position;

FIG. 2H is a side view, cross-sectional illustration of the syringeconnector shown at a collapsed position;

FIG. 3A is a front view, pictorial illustration of a fluid transferstation of a robotic pharmaceutical preparation system, constructed andoperative according to an example of the presently disclosed subjectmatter;

FIG. 3B is a front view, pictorial illustration of a manipulator of thefluid transfer system of FIG. 3A;

FIGS. 3C and 3D are front view, pictorial illustrations of a pressingmechanism of the manipulator of FIG. 3B at a first and secondoperational stage, respectively;

FIG. 3E is a pictorial illustration of a plunger arm of the manipulatorof FIG. 3B;

FIG. 3F is a pictorial illustration of the pressing mechanism of FIG. 3Cand further comprising a sensor, constructed and operative according toan example of the presently disclosed subject matter;

FIGS. 4A and 4B are side view, pictorial illustrations of a gripping armof the manipulator of FIG. 3B, shown separately (4A) and during itsoperation in the robotic pharmaceutical preparation system (4B);

FIGS. 5A and 5B are front view, pictorial illustrations of an engagingarm of the manipulator of FIG. 3B, shown separately (5A) and during itsoperation in the robotic pharmaceutical preparation system (5B);

FIG. 5C shows a top view of a portion of FIG. 3A, constructed andoperative according to an example of the presently disclosed subjectmatter;

FIGS. 6A-C are illustrations of the fluid transfer station at a firstoperational stage shown at a front view (6A), a side view (6B) and across-sectional illustration of FIGS. 6B (6C), according to an exampleof the presently disclosed subject matter;

FIGS. 7A-C are illustrations of the fluid transfer station at a secondoperational stage shown at a front view (7A), a side view (7B) and across-sectional illustration of FIGS. 7B (7C), according to an exampleof the presently disclosed subject matter;

FIGS. 8A-C are illustrations of the fluid transfer station at a thirdoperational stage shown at a front view (8A), a side view (8B) and across-sectional illustration of FIGS. 8B (8C), according to an exampleof the presently disclosed subject matter;

FIGS. 9A-C are illustrations of the fluid transfer station at a fourthoperational stage shown at a front view (9A), a side view (9B) and across-sectional illustration of FIGS. 9B (9C), according to an exampleof the presently disclosed subject matter;

FIGS. 10A-C are illustrations of the fluid transfer station at a fifthoperational stage shown at a front view (10A), a side view (10B) and across-sectional illustration of FIG. 10B (10C), according to an exampleof the presently disclosed subject matter;

FIGS. 11A-C are illustrations of the fluid transfer station at a sixthoperational stage shown at a front view (11A), a side view (11B) and across-sectional illustration of FIGS. 11B (11C), according to an exampleof the presently disclosed subject matter;

FIGS. 12A-C are illustrations of the fluid transfer station at a seventhoperational stage shown at a front view (12A), a side view (12B) and across-sectional illustration of FIGS. 12B (12C), according to an exampleof the presently disclosed subject matter;

FIGS. 13A-C are illustrations of the fluid transfer station at an eighthoperational stage shown at a front view (13A), a side view (13B) and across-sectional illustration of FIGS. 13B (13C), according to an exampleof the presently disclosed subject matter;

FIG. 14 is an illustration of the fluid transfer station at a ninthoperational stage, according to an example of the presently disclosedsubject matter;

FIGS. 15A-C are illustrations of the fluid transfer station at a tenthoperational stage shown at a front view (15A), a side view (15B) and across-sectional illustration of FIGS. 15B (15C), according to an exampleof the presently disclosed subject matter;

FIG. 16A is a front view, pictorial illustration of a fluid transferstation of a robotic pharmaceutical preparation system, constructed andoperative according to another example of the presently disclosedsubject matter;

FIGS. 16B and 16C are a front view, pictorial illustration of anengaging arm and a gripping arm of a manipulator of the fluid transfersystem of FIGS. 16A (16B) and a slightly angled closer view of FIGS. 16B(16C);

FIG. 16D is a side view, pictorial illustration of a gripping arm of themanipulator of FIGS. 16A-C;

FIG. 16E is a front view, pictorial illustration of an engaging arm ofthe manipulator of FIGS. 16A-C;

FIGS. 17A and 17B are a side view, pictorial illustration of a syringeconnector configured to be deployed with a syringe used for transferringthe fluid in the robotic pharmaceutical preparation system of FIGS.16A-E (17A), and a cross-sectional illustration of FIGS. 17A (17B);

FIG. 18 is a side view, cross-sectional illustration of a syringeconnector, constructed and operative according to another example of thepresently disclosed subject matter; and

FIGS. 19A-C are a front view, pictorial illustration of a syringeconnector (19A), a side view, pictorial illustration of the syringeconnector (19B) and a cross-sectional illustration of FIGS. 19B (19C),constructed and operative according to another example of the presentlydisclosed subject matter;

FIG. 20A is a graph showing the velocity and current of one or more armsof a first manipulator in a first robotic pharmaceutical preparationsystem. constructed and operative according to an example of thepresently disclosed subject;

FIG. 20B is graph showing the velocity and current of one or more armsof a second manipulator in a second, conventional robotic pharmaceuticalpreparation system;

FIG. 21A is a perspective view, pictorial illustration of a fluidtransfer station of a robotic pharmaceutical preparation system,constructed and operative according to an example of the presentlydisclosed subject matter; and

FIG. 21B is a close up view of the fluid transfer station of FIG. 21A.

DETAILED DESCRIPTION

The robotic pharmaceutical preparation systems and the fluid transferstations described herein below with reference to the drawings areconfigured for performing the operations related to transfer of drugsbetween different fluid transfer apparatuses including containers, fluidtransfer assemblies, connectors, conduits, pumps, syringes, vials,intravenous bags, adaptors, needles, etc. It is to be understood hereinthat the examples described in this description (with reference to thedrawings and otherwise) have been described with reference to only a fewcomponents of the fluid transfer apparatuses out of all which areencompassed by the scope of the present subject matter for the purposesof conciseness and clarity of the present description. Various examplesanalogous to those described herein with different components of thefluid transfer apparatuses and with different robotic stations,including different combinations of the components of the fluid transferapparatuses and the robotic stations, should be considered within thescope of the present description.

For instance, the container is described herein with reference to a vialand/or an intravenous bag, and it is to be understood that the containercan be any other container being a component of a fluid transferapparatus with or without an adaptor or connector for establishing fluidcommunication of the container with other fluid transfer components. Forexample, the container can constitute a container assembly having thecontainer along with a container connector (or adaptor) for establishingthe fluid communication of the container with other components of thefluid transfer apparatus. For example, the container can be a vial alongwith a vial adaptor, or an intravenous bag along with a spike adaptor.The container can be accessible via a container septum which can be aseptum of the container lid or can be a part of the connector. In someexamples, the container can be a syringe, a fluid transfer pipe,conduit, etc.

Similarly, the fluid transfer assembly is described herein withreference to a syringe assembly including a syringe and a syringeconnector, and it is to be understood that that the fluid transferassembly can include analogous components for transfer of drugs. In someexamples, the fluid transfer assembly can include a pumping mechanismand a fluid transfer pipe configured to be connected to the containerfor the transfer of drug. In some examples, the fluid transfer assemblycan include a fluid transfer connector (or adaptor) for establishingfluid communication between a fluid transfer unit (e.g. a fluid transferpipe, conduit, pump, syringe, etc.) and the container. In some examples,the fluid transfer assembly may not include the fluid transfer connectorand the fluid transfer connecter can constitute a part of the roboticsystem operating the fluid transfer assembly. In some examples, thefluid transfer assembly can include a vial or an intravenous bag fortransfer of fluid with another container.

Further, in all of the examples described herein, the transfer of fluidis described being performed by a needle penetrating the containerseptum into the container. It is to be understood herein that in someexamples the transfer of fluid can be performed without the needlepenetrating through the container septum, namely by needleless fluidtransfer, or optionally not penetrating even though a septum of thefluid transfer connector (associated with the fluid transfer assembly).In some examples, the fluid transfer can be performed even without aneedle and via a fluid transfer conduit by controlled pressure of thefluid. For instance, the fluid transfer conduit may or may not include aneedle, and if the fluid transfer conduit includes a needle, the needlemay penetrate both septa fully, or may penetrate one septum fully andthe other one partially, or may penetrate one septum partially and notat all the other one, or may not penetrate any septum at all.

The robotic system according to the presently disclosed subject matteris configured to handle and operate the containers and fluid transferassemblies according to all of the different examples thereof as notedabove to perform the transfer of fluid. For instance, although in all ofthe examples described herein, the robotic system is described as havinga manipulator configured to manipulate the fluid transfer assembly (morespecifically a syringe assembly), it is to be understood herein that therobotic system (and the manipulator) is configured to handle andmanipulate either or both of the container and the fluid transferassembly according to all of the examples thereof as noted above. Also,although in all of the examples described herein, the manipulator isdescribed as a robotic arm, it is to be understood herein that themanipulator can be a platform, a robotic station, or the like havingholders to hold the fluid transfer apparatus components and move themrelatively to each other and perform the transfer of fluid.

Reference is now made to the drawings to explain in detail a specificexample of the robotic system and components thereof. The detailedexplanation of the specific example below is for purposes ofillustration, and all the examples of the components of the fluidtransfer apparatus is to be considered well within the scope of thepresent description.

FIG. 1A is a block diagram illustration of a fluid transfer station 10within a robotic pharmaceutical preparation system 12. A robotic systemmay comprise an automatic or partially automatic system comprising amanipulator controlled, at least partially by a controller unit and mayfurther comprise one or more driving assemblies for facilitating themovement of the manipulator, as will be further described. Thepharmaceutical preparation system 12 comprises a robotic system operablefor performing any activity related to preparation of drugs designatedfor administration to patients.

The fluid transfer station 10 is operable for transfer of fluid betweena container 14 and a syringe assembly 18. In the illustrated example,the fluid transfer assembly is the syringe assembly 18. In someexamples, the fluid transfer assembly can be a pipe or tubing setassociated with a pump.

The container 14 is configured to be accessible via a container-septum16. The syringe assembly 18 comprises a syringe-septum 20 which isdisplaceable relative to a needle 22. The needle 22 is operable toextend into the container 14 via the syringe-septum 20 and thecontainer-septum 16 for transfer of the fluid therethrough between thecontainer 14 and the syringe assembly 18. In some examples, the syringeseptum can constitute a part of the fluid transfer connector whichconstitutes a part of the robotic system and not the fluid transferassembly. In some examples, the transfer of fluid can take place withoutthe needle by fluid pressure though a slit formed in the septa. In someexamples, the needle can be configured to extend any or both of thesepta partially and not fully.

The container 14 may comprise any receptacle configured to contain afluid therein, such a vial and an intravenous (IV) bag describedhereinbelow or other types of containers, such as in a non-limitingexample, pumps, e.g. dispensing pumps, elastomer pumps, infusion pumps,infusion containers, bottles, IV containers, IV bottles and/or closed oropen system IV bottles.

The fluid typically comprises a drug, a diluent, saline solution orwater or any other fluid used for drug compounding, or reconstituting.The drugs may be provided in powder or liquid phase.

The robotic pharmaceutical preparation system 12 comprises a controllerunit 30 operable to control a manipulator 32. The manipulator 32 isoperative to manipulate the syringe assembly 18 at least to securecontact between the container-septum 16 and the syringe-septum 20 suchas by pressing the syringe-septum 20 against the container-septum 16.The contact is secured at least during the transfer of the fluid via theneedle 22, while the needle 22 extends through the container-septum 16and the syringe-septum 20 into the container 14 (the extended state ofthe needle is shown in dashed lines). In some examples, the manipulatorcan be configured to manipulate the container in alternative or inaddition to the syringe assembly.

The container-septum 16 and the syringe-septum 20 may be formed of aresilient material which may be defined as a material capable of beingelastically deformed and substantially rebound to its original shapefollowing deformation thereof. The resilient container-septum 16 and thesyringe-septum 20 are configured for being reversibly pierceable by theneedle 22 and reconstituting to their original form also after beingrepeatedly pierced by the needle 22, so as to prevent microbial ingressinto the syringe assembly 18 and the container 14 and/or to preventcross contamination thereof. Furthermore, the contact between thecontainer-septum 16 and the syringe-septum 20 is a sealed contact so asto prevent microbial ingress into the syringe assembly 18 and thecontainer 14 and/or to prevent and cross contamination thereof. Also,the securing of the syringe-septum and container-septum via a roboticsystem may decrease formation of droplets at an interface of thesyringe-septum and container-septum. It is noted that thecontainer-septum 16 and the syringe-septum 20 may be configured totemporarily deform and expand radially upon being in tight sealedcontact therebetween.

The container-septum 16 and the syringe-septum 20 may be formed of thesame or different material.

In other terms, in accordance with some examples of the present subjectmatter, the robotic system 12 is operable for transferring fluid betweenthe container 14 accessible via the container-septum 16 and the syringeassembly 18 comprising the syringe-septum 20. The syringe-septum 20 isdisplaceable relative to the needle 22 to allow the needle 22 to extendthrough the syringe-septum 20 and the container-septum 16. The roboticsystem 12 is operable for bringing the container-septum 16 into contactwith the syringe-septum 20, and for extending the needle 22 through thecontainer-septum 16 and the syringe-septum 20, for transferring fluidvia the needle 22 while the needle 22 extends through thecontainer-septum 16 and the syringe-septum 20. The robotic system 12 isoperable for securing contact between the container-septum 16 and thesyringe-septum 20 at least during the transfer of the fluid via theneedle 22 while the needle 22 extends through the container-septum 16and the syringe-septum 20, wherein securing contact between thecontainer-septum 16 and the syringe-septum 20 is performed by therobotic system 12 pressing the container-septum 16 and syringe-septum 20onto each other with a minimum force amounting to a compressionthreshold.

In some examples, securing contact between the container-septum 16 andthe syringe-septum 20 is performed by the robotic system 12 pressing thecontainer-septum 16 and syringe-septum 20 onto each other additionallyduring needle extension through the container-septum 16 and thesyringe-septum 20 and during needle withdrawal therefrom.

Extending the needle 22 through the container-septum 16 and thesyringe-septum 20 may follow reducing a predetermined axial distancebetween the syringe assembly 18 and the container 14, which causes theadvancement of the needle 22 towards the container 14 and thereafter theaforementioned extension of the needle 22. Reducing the predeterminedaxial distance may be performed by advancing the syringe assembly 18towards the container 14. Alternatively, reducing the predeterminedaxial distance may be performed by advancing the container 14 towardsthe syringe assembly 18. Additionally, in some examples, reducing thepredetermined axial distance may be performed by advancing both thecontainer 14 and the syringe assembly 18 towards each other.

The robotic system 12 may be operable for transferring fluid between thecontainer 14 and the syringe assembly 18. In some examples, the roboticsystem comprises the manipulator 32 controlled by the controller unit30. Bringing the container-septum 16 into contact with thesyringe-septum 20 comprises engaging the manipulator 32 with a portionof the syringe assembly 18 (e.g. by gripping the syringe assembly) andcoaxially positioning the syringe assembly 18 with the container-septum16 at the abovementioned predetermined axial distance from the container14.

The robotic pharmaceutical preparation system 12 may be deployed forpreparation of any type of drug, including a hazardous drug which isprepared in closed systems, as well as non-hazardous drugs.

In some examples, the container-septum 16 may comprise an auxiliaryseptum added to a conventional container. The auxiliary septum maygenerally be mounted to the container via a housing such as a containerconnector. For example, the vial may comprise a vial adaptor comprisingan auxiliary adaptor-septum.

In some examples, the container-septum 16 may comprise the conventionalseptum of a commercially available container, such as the preexistingrubber closure of a vial or a preexisting medicine port of an IV bag.Preexisting container-septum 16, and particularly preexisting IV bagmedicine ports (500 in FIG. 12A), are available at various diameters andlengths. As described hereinabove, in conventional robotic ornon-robotic pharmaceutical preparation systems the container-septum ishoused in a designated manufactured container connector (also referredto as an “adaptor”) designed to fit a port of a predefined dimension(e.g. diameter and/or length). Accordingly, use of a variety of IV bagsor vials formed with differently dimensioned ports or connected todifferent adaptors (for example from different manufacturers) isprecluded in such pharmaceutical preparation systems. Furthermore, thepreexisting medicine port of the IV bag may be manufactured to protrudefrom various locations on the IV bag, such as from its edge or from itscenter (e.g. a “bellybutton” IV bag). Therefore, it is difficult tomount a container connector onto the preexisting IV bag medicine port.

In accordance with the present application, the contact betweensyringe-septum 20 and the container-septum 16 is established and securedby the manipulator 32 which is configured to align and maintain thesecure contact while being positioned away from both the syringe-septum20 and the container-septum 16. The manipulator 32 is operable to applya sufficient magnitude of force to maintain the secure contact, withoutrequiring auxiliary fixing (i.e. securing) means, which would limit thedrug transferring to a predefined, particular port dimension.Accordingly, the robotic pharmaceutical preparation system of thepresent application facilitates transferring drugs while utilizingcontainers of a wide variety of dimensions, without being limited to apredefined container dimension or port dimension.

Additionally, eliminating the IV bag connector (and/or vial connector)reduces reliance on auxiliary parts which may malfunction therebypreventing proper fluid transfer.

In some examples, the contact between syringe-septum 20 and thecontainer-septum 16 is secured at least mainly due to application of anaxial force by the manipulator 32 on the syringe assembly 18 and/or thecontainer. The manipulator 32 may be configured to engage the syringeassembly 18 or the container 14 at any engaging portion thereof,preferably excluding the syringe-septum 20 and the container-septum 16.The manipulator 32 may be configured to press the syringe-septum 20against the container-septum 16 by indirectly applying an axial force onthe syringe-septum 20, such as by applying the axial force on theengaging portion which is spaced apart (e.g. axially) from thesyringe-septum 20 and the container-septum 16.

In some examples, the syringe assembly 18 may comprise a syringeconnector. The syringe septum 20 may be mounted on the syringeconnector. The syringe-connector may comprise any suitableconfiguration. An exemplary syringe-connector is described in referenceto FIG. 1B.

FIG. 1B is a block diagram illustration of some elements of a syringeconnector 50, which may constitute a part of the syringe assembly 18 orthe robotic system. The syringe connector 50 comprises a body member 52shaped to define a body lumen. The body member 52 is couplable to asyringe 54 (which in the illustrated example is a fluid transfer unit)at a syringe coupling portion 56. A sleeve 58 is arranged coaxiallyrelative to the body member 52 and the syringe septum 20 is mounted at adistal end 60 of the sleeve 58. The needle 22 extends axially from thesyringe coupling portion 56 into the body lumen and is configured toestablish fluid communication with the syringe 54 when the syringe 54 iscoupled to the syringe coupling portion 56.

The sleeve 58 and the body member 52 are configured to move relative toeach other between at least one of the following positions: (i) anextended position in which a needle tip is proximal to a septum proximalsurface 62 (shown in solid lines), (ii) an intermediate position inwhich the needle tip is enclosed inside the syringe-septum 20 (shown indashed lines), and (iii) a collapsed position in which the needle tipprotrudes beyond a septum distal surface 66 (shown in dotted lines).

In some examples, transitioning from any one of the extended positionand the intermediate position to the collapsed position and from thecollapsed position to the intermediate position may be performed by thesleeve 58 configured to move only axially relative to the body member52. In some examples, transitioning from any one of the extendedposition and the intermediate position to the collapsed position andfrom the collapsed position to the intermediate position may beperformed by the sleeve 58 configured to rotate about the longitudinalaxis Lx 1 (3B) and/or move axially relative to the body member 52.

In some examples, the syringe connector may not contain the needle, orthe needle may not penetrate any of the septa at all, and the fluidtransfer can be performed by virtue of fluid pressure though a slitformed in the septa. In such examples as well, the fluid communicationbetween the syringe assembly and the container is established when thesyringe connector displaces into its collapsed position and the extendedposition is the normal position of the syringe connector. In someexamples, the extended position is for the purposes of sterilizationduring manufacturing and/or testing, and following the sterilization,the syringe connector can be brought into its intermediate position. Insuch examples, the syringe connector is used in the robotic systemstarting from its intermediate position (and the extended position isobviated), which is then the normal position. In the extended state, thesyringe septum is at an extended distance from a proximal portion of thesyringe connector at which the syringe is coupled. In the intermediatestate, the syringe septum is at an intermediate distance, smaller thanthe extended distance, from the proximal portion of the syringeconnector at which the syringe is coupled. In the collapsed state, thesyringe septum is at a collapsed distance, smaller than the intermediatedistance, from the proximal portion of the syringe connector at whichthe syringe is coupled.

The syringe connector 50 may comprise a locking mechanism 70 configuredto lock the sleeve 58 into the body member 52 at one or more of theextended position and the intermediate position (or the collapsedposition or any other position). The locking mechanism is configured toselectively enable and prevent the movement of the sleeve 58 relative tothe body member 52 from the extended position upon activation of anactuator 72. In some examples, the actuator 72 is actuatableirrespective of the syringe connector 50 being connected to anyauxiliary septum. The auxiliary septum may comprise the container-septum16 or a septum unengaged with a container 14, such as a stand-aloneseptum or a septum engaged with another component, such as a septumengaged with an adaptor or connector.

Accordingly, there is provided a syringe connector 50 operable to bepositioned in at least one of the abovementioned extended, intermediateor collapsed positions. The syringe connector 50 comprises the lockingmechanism 70 activated by the actuator 72 for locking the syringeconnector 50 in the extended or intermediate position and forfacilitating the transitioning to another position.

It is noted that in known syringe connectors controlling the position ofthe needle 22 with respect to the syringe-septum is not trivial forvarious reasons, such as due to imprecise tolerances of the syringeconnector. In contrast, the locking mechanism 70 described hereinfacilitates substantially precise control of the position of the needletip with respect the syringe septum 20, so as to be positioned in anyone of the following positions: proximal to the septum proximal surface60 in the extended position; enclosed inside the syringe-septum 20 inthe intermediate position and protruding beyond the septum distalsurface 66 in the collapsed position.

The syringe connector 50 may be deployed in conventional robotic systemsand/or in the robotic pharmaceutical preparation system 12 of thepresent application.

It is noted that the robotic pharmaceutical preparation system 12 of thepresent application may utilize the syringe connector 50 describedherein or any other type of syringe connector.

In some examples, a syringe connector may comprise the mutuallycollapsible portions, such as the sleeve 58 and the body member 52 yetmay not include the locking mechanism 70. The robotic pharmaceuticalpreparation system 12 may be operable for fluid transfer utilizing sucha syringe connector lacking the locking mechanism 70.

In another example, a syringe connector may comprise a locking mechanism70 being configured to be actuated at any stage of the fluid transferoperation. In the operational steps described in reference to FIGS.6A-15C, the actuation of the locking mechanism 70 is described to beperformed at an initial first operational step, described in referenceto FIGS. 6A-C. It is appreciated that the robotic pharmaceuticalpreparation system 12 may be configured to actuate the locking mechanism70 at any stage, such as any time prior to extension of the needle 22into the container 14, for example.

The syringe connector 50 may be configured in any suitable manner. Oneexemplary configuration is described in reference to FIGS. 2A-H.

As seen in FIGS. 2A-H, a syringe connector 50 comprises the sleeve 58arranged coaxially relative to the body member 52 and comprising thesyringe-septum 20 mounted at the distal end 60 of the sleeve 58. Thebody member 52 is shaped to define a body lumen and is couplable tosyringe 54 (1B) at the syringe coupling portion 56. The needle 22extends axially from the syringe coupling portion 56 into the bodylumen.

The sleeve 58 and the body member 52 are configured to move relative toeach other between an extended position as shown in FIG. 2C, in which aneedle tip is proximal to the septum proximal surface 62, and acollapsed position in which the needle tip protrudes beyond the septumdistal surface 66, as shown in FIG. 2H. The sleeve 58 may be insertableinto the body member 52 along rails 120 (2A) formed on an inner surface122 of the body member 52. Rails 120 are configured to slide alongcorresponding grooves 124 formed on an outer surface 126 of the sleeve58.

It is appreciated that the body member 52 and the sleeve 58 may compriseany suitable means for being collapsible relative to each other.

It is further appreciated that the body member 52 may be insertable intothe sleeve 58, as shown in FIGS. 17A and 17B.

The syringe connector 50 comprises the locking mechanism 70 configuredfor selectively enabling and preventing the movement of the sleeve 58relative to the body member 52 from the extended position uponactivation of the actuator 72. The actuator 72 may be formed in anysuitable manner and may include a protruding portion 138 accessible onan external wall 140 of the syringe connector 50, such that it isactuatable by application of a force, such as a radial or lateral forceFr (2F) (and in some examples and/or an axial force) on the protrudingportion 138. The radial or lateral force Fr may comprise a grippingforce, a lateral force, a linear bidirectional (squeeze) force, abilinear force, a bilateral force and/or a counterbalance force. Theactuator 72 comprises an internal portion 144 (2D) disposed within thesleeve 58. The protruding portion 138 laterally protrudes via at leastone opening 148 (2B) formed on the body member 52. Application of theradial (and/or axial force) Fr upon the protruding portion 138 inducesactuation (namely activation) of the locking mechanism 70 from thelocked state to the unlocked state and facilitates the slidable axialmovement of the body member 52 with respect to the sleeve 58 fortransitioning from the extended position to the intermediate positionand/or to the collapsed position.

In an alternative example, the internal portion 144 is disposed withinthe body member 52 and the protruding portion 138 laterally protrudesvia at least one opening 148 formed on the sleeve 58, as shown in FIG.17B.

In some examples, the locking mechanism can be configured to enable therelative movement of the sleeve and the body member irrespective of anyaxial force being applied onto the syringe septum in a directionparallel to the longitudinal axis Lx 1 (3B) of the syringe connector.For instance, the locking mechanism can enable the relative movementbetween the sleeve and the body member even when there is no forceapplied on the syringe septum in a direction parallel to thelongitudinal axis of the syringe connector.

In some examples, the locking mechanism in its locked state isconfigured to prevent the relative movement between the sleeve and thebody member from the extended position to the collapsed position and/orfrom the intermediate position, i.e. normal position, to the collapsedposition, due to an axial force applied on at least one of the bodymember and the sleeve, or on the syringe septum in a direction parallelto the longitudinal axis. For instance, the flat surface 138A (2G) atthe bottom of the protruding portion 138 prevents the relative movementbetween the sleeve and the body member irrespective of an axial forceapplied on at least one of the body member and the sleeve, or on thesyringe septum in a direction parallel to the longitudinal axis, atleast until the locking mechanism is displaced into its unlocked state.In such an example, the protrusion 138 constitutes a lockable member andthe opening 148 constitutes a locking member locking the lockablemember, and the locking mechanism is not allowed to displace intounlocked state in response to an axial force.

Back to FIGS. 2A-H, the actuator 72 comprises a pair of internalportions 144 configured as flexible extensions formed at opposite sidesof the sleeve 58. Each of the flexible extensions 144 comprise theprotruding portion 138 configured as a tab for forming a snap connectionwith a pair of corresponding openings 148. The pair of correspondingopenings 148 are formed at opposite sides of the body member 52 and arearranged to be aligned with the tabs so as to allow the tabs 138 tolaterally protrude from a corresponding opening 148 in the locked state.

A second pair of openings 150 (2F) may be provided along the syringeconnector 50 and may be disposed at any suitable location, such asaxially collinear relative to the first pair of openings 148.

Absent application of the force Fr on the tabs 138 and when aligned witheither corresponding first pair of openings 148 or with correspondingsecond pair of openings 150, the flexible extension 144 are configuredto radially extend thereout, thereby causing the tabs 138 to laterallyprotrude from the corresponding pairs of opening 148 or 150, andposition the syringe connector 50 in a locked state.

FIGS. 2A-F show the sleeve 58 and the body member 52 positioned at anextended position. The tabs 138 protrude from the first pair of openings148 at a locked state. This extended position may be deployed forallowing sterilization of the needle including its needle tip, which ispositioned proximal to the septum proximal surface 62. Sterilizationgases penetrating the syringe connector 50 are thereby allowed tosterilize the needle 22 along with the needle tip. Sterilization istypically performed prior to positioning the syringe connector 50 in thefluid transfer station 10, as will be further described in reference toa first operational stage shown in FIGS. 6A-C.

By application of the force Fr (2F) upon the tabs 138, the tabs 138 aremedially pushed through first openings 148 towards the longitudinal axisLx 1 (3B) and are positioned within the inner surface 122 of the bodymember 52 so as to transition from the locked state to the unlockedstate. At the unlocked state the body member 52 may slidably axiallymove with respect to the sleeve 58 for transitioning from the extendedposition to the intermediate position shown in FIG. 2G and/or to thecollapsed position shown in FIG. 2H.

FIG. 2G shows the sleeve 58 and the body member 52 positioned at theintermediate position. The tabs 138 are positioned to protrude from thesecond pair of openings 150 at a locked state. The needle tip or openingis positioned to be enclosed within the syringe-septum 20 for preventingthe protrusion of the needle tip beyond the syringe-septum 20. Thisintermediate position may be deployed to prevent contamination of theneedle tip and microbial ingress through the needle tip into the syringe54 and to prevent inadvertently injuring an operator upon removal of thesyringe assembly 18 from the container 14. Additionally, enclosing theneedle tip or opening within the syringe-septum 20 seals the needle tipor opening from droplets.

The external wall 140 of the syringe connector 50 may, in some examples,comprise a protective surface 170 configured to prevent manual access tothe actuator 138, namely the tabs 138. This is to prevent inadvertentpressing of the tabs which may cause undesired protrusion of the needletip beyond the syringe-septum 20, such as when the syringe assembly 18is transported by a human operator. The protective surface 170 maycomprise a pair of peripheral protrusions 174 surrounding the opening.As seen in FIGS. 2A-H, three peripheral protrusions 174 are disposed tosurround the first pair of openings 148 and the second pair of openings150, through one peripheral protrusion 174 may be provided or manyperipheral protrusions 174 may be provided.

As seen in FIG. 2H, at the collapsed position the sleeve 58 is insertedwithin the body member 52 and is confined within the body member 52 atits proximal end by a base surface 160 of the body member 52. At itsdistal end 60 the sleeve 58 is formed with a radial stop 164. The radialstop 164 may comprise any suitable configuration such as a rim radiallyprotruding from the outer surface 126 (2A) of the sleeve 58. In thecollapsed position the distal end of the body member 52 abuts with theradial stop 164 and the needle tip protrudes beyond the septum distalsurface 66. This collapsed position may be deployed for executing theneedle penetration into the container 14 for enabling the transfer ofthe fluid, as will be further described in reference to an operationalstage shown in FIGS. 9A-C.

The syringe connector 50 may be configured to be irreversibly movablefrom the extended position, such that following commencement of thetransfer of the fluid, the syringe connector 50 is configured forreturning from the collapsed position, shown in FIG. 2H, to theintermediate position in which the needle opening is enclosed inside thesyringe-septum 20, as shown in FIG. 2G. In some examples the syringeconnector does not resume its extended position, rather remains withinthe intermediate position once removed from a container holder, or whatcould be considered a container holder, to be shifted to anothercontainer holder or to be removed from the fluid transfer station 10.The syringe connector 50 is positioned at the intermediate position, forexample, to prevent contamination of the needle tip and microbialingress through the needle tip into the syringe 54 and to preventinadvertently injuring an operator upon removal of the syringe assembly18 from the container 14.

As seen in FIGS. 2A-H, the syringe-septum 20 is mounted at the distalend 60 of the sleeve 58 which is shaped with a lumen. The syringe-septum20 comprises a septum protruding portion 180 (shown in the insert inFIG. 2C) which axially protrudes from the sleeve 58 from its distal end60. The syringe-septum protruding portion 180 may be shaped in anysuitable form, such as a terraced-like shape. The septum protrudingportion 180 comprises a sleeve-proximal portion 182 having a firstperipheral wall 184 comprising a first circumference. The septumprotruding portion 180 comprises a sleeve-distal portion 186 having asecond peripheral wall 188 comprising a second circumference. The secondcircumference is smaller than the first circumference. In some examples,the second peripheral wall 188 is inclined such that the secondcircumference recedes towards the septum distal surface 66.

In some embodiments, the syringe connector 50 extends between aconnector proximal end 189 and a connector distal end, also constitutingsleeve distal end 60 (FIG. 2C) and is configured to be connected to thesyringe 54 at the connector proximal end 189. The syringe connector 50comprises a connector structure, which is some embodiment comprises theconnector body member 52 extending from the connector proximal end 189and the sleeve 58. The syringe-septum 20 extends from the connectorstructure, (e.g. from the sleeve 58), and has the syringe-septumprotruding portion 180, protruding therefrom towards the connectordistal end 60. The syringe-septum protruding portion 180 is formed in aterraced-like shape.

It is noted that in some alternative examples, the septum protrudingportion 180 may comprise a cylindrical shape where the first and secondcircumferences may be identical. It is further noted that in someexamples, the septum protruding portion 180 may be shaped such that thefirst circumference is smaller than the second circumference.

The syringe-septum protruding portion 180 has a length L extendingaxially from the distal end 60 of the sleeve 58 to the septum distalsurface 66. In some examples, the length L is at least 20 millimeters ormore. In some examples, the length L is at least 30 millimeters or more.In some examples, the length L is in the range of at least 15-30millimeters, subranges and variants thereof. The length L may bedimensioned to be relatively long, at least longer than conventionalsyringe-septa so as to facilitate contacting the container-septum 16,such as a difficult to access, preexisting medicine port of an IV bag.

The syringe-septum 20 may comprise a syringe-septum subsurface portion190, which extends from the distal end 60 of the sleeve 58 towards thesyringe 54. In the example of FIGS. 2A-H, the syringe-septum 20 is shownto be housed inside the sleeve lumen.

Additional examples of the syringe connector 50 and syringe-septum 20will be further described with reference to FIGS. 17A-19C.

In accordance with some embodiments, it is to be understood herein andas can be seen in the drawings, there is no portion of the container (orcontainer connector) or the syringe connector or the robotic system thatsurrounds the contact point of the two septa, radially or in any way tosecure the contact therebetween. Thus, the securing of the contact (atthe contact point of the two septa) being performed by the act ofpressing by the robotic system becomes even more significant in viewthereof.

FIGS. 3A-15C illustrate an example of the fluid transfer station 10.FIGS. 3A-5B illustrate the fluid transfer station 10 and componentsthereof. FIGS. 6A-15C illustrate operational stages of transferringfluid in between the syringe assembly 18 and the container 14 in thefluid transfer station 10. It is appreciated that components describedherein are by way of example and the fluid transfer station 10 maycomprise alternative components. Furthermore, the fluid transfer station10 is shown to be deployed with the syringe connector 50 of FIGS. 2A-H,it being appreciated that the fluid transfer station 10 may be deployedwith any other type of syringe connector known in the art or describedherein. Furthermore, it is appreciated that the syringe assembly 18 isprovided by way of example and any fluid transfer assembly may deployed.

FIGS. 3A-E illustrate an example of the fluid transfer station 10 of therobotic pharmaceutical preparation system 12 operable for transferringfluid from the syringe assembly 18 to the container 14.

As seen in FIG. 3A, fluid transfer station 10 comprises a containerholding module (or container holder), such as a vial assembly holdingmodule 208 configured for supporting at least one vial assembly 210 (3B)and a spaced apart intravenous (IV) bag holding module 214 configuredfor supporting at least one IV bag 216 thereon. Vial assembly holdingmodule 208 and IV bag holding module 214 are mounted on a recessed table220 configured for facilitating fluid communication with a syringemanipulator module 224. The syringe manipulator module 224 may comprise,be comprises or constitute the manipulator 32. In a non-limitingexample, the fluid transfer may be from the vial assembly 210 to thesyringe assembly 18 (3B) and from the syringe assembly 18 to the IV bag216. The fluid may comprise a pharmaceutical, saline solution, water orany other suitable fluid.

It is noted that the vial assembly 210 may comprise a vial or a vialcoupled to a vial-adaptor. The container-septum 16 (1A) of the vialassembly 210 may comprise the septum of the vial or a septum disposed inthe vial-adaptor.

The syringe manipulator module 224 is disposed in proximity to acarousel conveyor 228 configured for conveying a train of syringes (notshown) which are selected by the syringe manipulator module 224 forperforming the transfer of the fluid in between a selected syringeassembly 18 to a container 14.

The syringe manipulator module 224 comprises the manipulator 32configured with at least one arm operable to contact a portion of thesyringe assembly 18 and move the syringe assembly 18 along any one ormore of the vertical axis x 1, the horizontal axis x 2 transverse axis x3, and/or about the rotation axis r 1.

Any one of the arms is displaced by a driving assembly comprising adriving actuator. The driving actuator is configured for actuating themovement of the arm and may comprise in a non-limiting example any oneof a motor, a servo motor, a hydraulic motor, a pneumatic motor, anelectric motor, a magnetic motor, a mechanical actuator such as aspring, a piston and a combination thereof.

The driving actuator actualizes the displacement of the one or more armsby at least one motion transmission member such as a shaft, a guiderail,a belt, a pulley, a gear and a combination thereof or any other suitablemotion transmission member.

The manipulator 32 may be formed as a manipulator assembly comprisingone or more arms for moving the syringe assembly 18 and securing contactbetween the syringe-septum 20 and the container-septum 16. In theexemplary manipulator 32 described in reference to FIGS. 3A-19C themanipulator comprises a gripping arm 234, an engaging arm 238 and aplunger arm 244. It is appreciated that the manipulator may comprise asingle arm or more, two arms or more and three arms or more.

In some examples the manipulator 32 including any one or more of theengaging arm 234, the gripping arm 238 and the plunger arm 244, isformed as a monolithic structure. The plunger arm 244 may bedisplaceable with respect to the gripping arm 238 along the injectionaxis Lx 1 (FIG. 3B) and is configured to be displaced together with thegripping arm 238 during movement of the manipulator 32. The engaging arm234 may be displaceable with respect to the gripping arm 238 along theinjection axis Lx 1 and is configured to be displaced together with thegripping arm 238 during movement of the manipulator 32.

Additionally or alternatively, the manipulator 32 is constructed tomechanically couple any one or more of the engaging arm 234 with thegripping arm 238 and/or with the plunger arm 244. Furthermore, any oneor more of the engaging arm 234, the gripping arm 238 and the plungerarm 244 may extend from the manipulator 32.

FIG. 3B shows a closer view of FIG. 3A. Some components are omitted forclarity, such as the table 220, carousel conveyor 228 and parts of thevial assembly holding module 208.

Turning to FIGS. 3B-5B it is seen that the manipulator 32 comprises thegripping arm 234 configured for gripping a grip portion 236 (3C) of thesyringe assembly 18 and for moving and holding the syringe assembly 18along vertical axis x 1 (namely longitudinal axis Lx 1 shown in FIG.3B). Furthermore, the gripping arm 234 is configured to be controllablymovable relative to the container holding module configured to hold thecontainer 14 so that the gripping arm 234 can align the syringe-septum20 and the container-septum 16 and bring the syringe-septum 20 incontact with the container-septum 16 when the gripping arm 234 holds thesyringe assembly 18 (as shown in the insert in FIG. 3C).

The gripping arm 234 is configured to perform one or more of thefollowing operations: (i) to selectively apply the radial or lateralforce Fr (4B) for pressing upon the syringe-connector actuator 72 of thesyringe assembly 18 thereby transitioning from a locked state to anunlocked state so as to position the syringe connector 50 in any one ofthe extended position, the intermediate position and the collapsedposition, as described hereinabove in reference to FIGS. 2A-H; (ii) togrip the connector 50, (e.g. at body member 52 or at sleeve 58), alignthe syringe assembly 18 with the container 14 and bring thesyringe-septum 20 in contact with the container-septum 16. The grippingarm 234 is configured to perform these operations simultaneously orsuccessively.

The manipulator 32 further comprises the engaging arm 238 configured toengage the syringe assembly 18 at an engaging portion 240 (3C) and isconfigured for axial movement relative to the gripping arm 234.

In some examples, the engaging arm 238 and the gripping arm 234 arecoupled so that the engaging arm 238 and the gripping arm 234 areoperable to be controllably displaced either axially together (e.g. atan operational stage described in reference to FIGS. 7A-C) or axiallyrelatively to each other (e.g. at an operational stage described inreference to FIGS. 9A-C when the engaging arm 238 is stationary and thegripping arm 234 advances axially towards the engaging arm 238). It isappreciated that in some examples, the engaging arm 238 and the grippingarm 234 are operable to be controllably displaced either together orrelatively to each other in any directions, such as axially, radially,laterally, rotatably, along any one of the longitudinal axis Lx 1, thehorizontal axis x 2, the transverse axis x 3,the rotation axis r 1and/or a combination thereof.

In the examples of FIGS. 3A-15C the engaging arm 238 is shown to bedisposed axially above the gripping arm 234 yet it is appreciated thatthe engaging arm 238 and the gripping arm 234 may be arranged relativeto each other in any suitable arrangement, e.g. such as shown in FIGS.16A-C.

The gripping arm 234 is operable to align the syringe-septum 20 of thesyringe assembly 18 and the container-septum 16 of the container 14,bring the syringe-septum 20 in contact with the container-septum 16,press the syringe-septum 20 against the container-septum 16 to securecontact therebetween, and to execute penetration of the syringe-septum20 and the container-septum 14 by the needle 22 for enabling thetransfer of the fluid, while the contact between the container-septum 16and the syringe-septum 20 remains secured by the engaging arm 238.

It is noted that in an example, the engaging arm 238 and the grippingarm 234 are operable, separately or together, to align thesyringe-septum 20 of the syringe assembly 18 and the container-septum 16of the container 14, bring the syringe-septum 20 in contact with thecontainer-septum 16, press the syringe-septum 20 against thecontainer-septum 16 to secure contact therebetween, and to executepenetration of the syringe-septum 20 and the container-septum 14 by theneedle 22 for enabling the transfer of the fluid, while the contactbetween the container-septum 16 and the syringe-septum 20 remainssecured by any one of the engaging arm 238 and the gripping arm 234.

The manipulator 32 additionally comprises a plunger arm 244 (3E)configured to operate a plunger 248 of the syringe assembly 18 and gripa plunger flange portion 250 of the plunger 248. Transfer of the fluidin between the syringe assembly 18 and the container 14 (e.g. vialassembly 210 or IV bag 216) is facilitated by the axial displacement ofthe plunger flange portion 250 by the plunger arm 244. Axialdisplacement downwards away from the container 14 facilitates withdrawalof fluid therefrom and axial displacement upwards towards the container14 facilitates injection of fluid therein. The axial displacement of theplunger arm 244 may be performed along the injection axis Lx 1, (3B) andis positioned away from a central longitudinal axis (shown as axis x 1in FIG. 3A) of the manipulator 32.

It is noted that in an alternative example, the plunger arm 244 mayreplace any one of the gripping arm 234 and the engaging arm 238 and maybe facilitated to perform one or more of aligning the syringe-septum 20to the container-septum 16 and/or securing contact between thecontainer-septum 16 and the syringe-septum 20 at least during thetransfer of the fluid via the needle 22, while the needle 22 extendsthrough the syringe-septum 20 and the container-septum 16 into thecontainer 14.

In the example of FIGS. 3A-5B, the driving assembly comprises a primarydriving assembly 260 (3B) operable by its servo-motor 262 to actuateaxial displacement of the syringe manipulator module 224 along a movableshaft 264 in the orientation of vertical axis x 1. The axialdisplacement facilitates simultaneous movement of the engaging arm 238,the gripping arm 234 and the plunger arm 244, towards the container 14for transferring the fluid and away therefrom as will be furtherdescribed in reference to the operational stages described in referenceto FIGS. 7A-9C.

In other words, the primary driving assembly 260 is configured tosimultaneously advance the engaging arm 238 and the gripping arm 234towards the container 14 while bringing the engaging arm 234 towards theouter surface 126 (2A) of the syringe assembly 18 for pressing thereon.In the example of FIGS. 3A-15C the engaging arm 238 axially presses uponthe engaging portion 240 (3C), which is disposed at the radial stop 164of the sleeve 58, so as to contact and maintain the secured contactbetween the syringe-septum 20 and the container-septum 16.

Following the transfer of the fluid from the vial assembly 210, theprimary driving assembly 260 is further operable for rotationaldisplacement of the syringe manipulator module 224. The rotationaldisplacement is performed by rotation of the shaft 264 about rotationalaxis r 1 by rotating the shaft 264 in the orientation of arrow r2 fromthe vial assembly holding module 208 to the IV bag holding module 214and vice versa, as will be further described in reference to theoperational stage described in reference to FIGS. 11A-C. It isappreciated that the displacement of the manipulator module 224 form thevial assembly holding module 208 to the IV bag holding module 214 andvice versa may be linear (i.e. not rotational) or any other axial and/orlateral displacement.

Primary driving assembly 260 is mounted on a frame 268 whichmechanically couples primary driving assembly 260 to a secondary drivingassembly 270.

Secondary driving assembly 270 is operable by its servo-motor 272 toactuate displacement of the manipulator 32 in the orientation ofhorizontal axis x 2. The manipulator 32 is coupled to a carriage 274configured with guiderails 276 mounted thereon and operable tohorizontally slide along sliders 278. The carriage 274 is additionallyfixed to a rotatable axle 280 actuated to rotate by the servo-motor 272via a belt drive 284. Rotation of axle 280 causes guiderails 276 toslide along sliders 278 thereby horizontally advancing the carriage 274in tandem with the manipulator 32 towards the carousel conveyor 228(3A). Horizontal advancement of the manipulator 32 away from the vialassembly holding module 208 and towards the carousel conveyor 228 isgenerally performed at an initial stage of operation for allowing thegripping arm 234 to grab a selected syringe assembly 18 from thecarousel conveyor 228. The gripping arm 234 horizontally retracts backtowards the vial assembly holding module 208 so as to facilitatealignment of the syringe assembly 18 with the vial assembly 210 as willbe further described in reference to the operational stage shown inFIGS. 6A-C, or in some examples, to facilitate alignment of the syringeassembly 18 with the IV bag 216.

A tertiary driving assembly 290 is operable by its servo-motor 292 toactuate axial displacement of the plunger arm 244 mounted on a block 296formed with a throughgoing bore for sliding along a rotatable shaft 298in the orientation of vertical axis x 1. Block 296 is fixed to a slider300 configured to axially slide along guiderails 302. The rotatableshaft 298 is actuated to rotate by the servo-motor 292 via a belt drive304 causing the slider 300 to slide along the guiderails 302 therebyaxially displacing the plunger 248 mounted on the plunger arm 244relative to the container 14 (e.g. the vial assembly 210 or the IV bag216). Downward axial displacement away from the container 14 facilitateswithdrawal of fluid from the container 14 into the syringe assembly 18,as will be further described in reference to an operational stage shownin FIGS. 10A-C. Axial displacement upwards towards the container 14facilitates injection of fluid into the container 14, as will be furtherdescribed in reference to an operational stage shown in FIG. 14 .

In some examples, the robotic pharmaceutical preparation system 12 mayfurther comprise a sensor 308, such as an optical sensor, e.g. a cameraand/or an encoder (such as an encoder of any one of the servo-motors) orany other type of magnetic sensor, vibrational sensor, accelerometer,audio sensor, electrical sensor or any sensor configured for guiding thedriving assemblies for executing the movement of the manipulator 32 soas to perform any one or more of: bringing the container-septum 16 intocontact with the syringe-septum 20; extending the needle 22 through thecontainer-septum 16 and the syringe-septum 20; transferring fluid viathe needle 22 while the needle 22 extends through the container-septum16 and the syringe-septum 20 and securing contact between thecontainer-septum 16 and the syringe-septum 20 at least during thetransfer of the fluid via the needle 22 while the needle extends throughthe syringe-septum 20 and the container-septum 16.

In some examples, the manipulator 32 is configured and arranged toaccommodate a variety of syringes 54 dimensioned with different lengthsand diameters, e.g. a diameter of its body, namely the syringe barrel310, hub 312 (3C) and/or plunger flange portion 250 (3E). As seen inFIG. 3E, the plunger arm 244 comprises a plunger plate 320 formed withat least one recess 324 for supporting the plunger flange portion 250. Aplurality of recesses 324 are formed, where each recess 324 isdimensioned with a different diameter to accommodate plunger flangeportions 250 formed with different diameters. The plunger plate 320constitutes a plunger support including a first plunger holding element324A and a second plunger holding element 324B and a third plungersupport element 324C, each comprising a respective recess formed with arespective receiving space having a corresponding recess dimension forreceiving a plunger flange dimensioned accordingly. In some embodiments,the plunger plate 320 may comprise a single plunger holding element 324,two plunger holding elements, three plunger holding element or more.

As seen in FIGS. 3A-D, the gripping arm 234 is arranged to grip thegripping portion 236 away from the syringe 54 (or at least away from thesyringe barrel), while gripping the syringe assembly 18 at the syringeconnector 50, and the engaging arm 238 is arranged to engage theengaging portion 240 away or distally from the syringe 54 (or at leastaway from the syringe barrel), while gripping the syringe assembly 18 atthe syringe connector 50. Gripping the syringe assembly by the grippingarm 234 at the gripping portion and/or engaging the syringe assembly bythe engaging arm 238 away or distally from the syringe 54 (or at leastaway from the syringe barrel), such as by gripping the syringe assembly18 at the syringe connector 50 facilitates accommodating any syringe,regardless of the syringe dimensions. Accordingly, the roboticpharmaceutical preparation system 12 is facilitated to prepare a largevariety of pharmaceuticals which are typically contained in differenttypes of syringes 54 dimensioned with different lengths and diameters.

Additionally, gripping the syringe assembly at the gripping portion,away or distally from the syringe 54, such as at least away from thesyringe barrel, by gripping the syringe assembly 18 at the syringeconnector 50, prevents obstructing any image information displayed onthe syringe (e.g. on the body 310 namely barrel, hub 312 and/or plungerflange portion 250 of the syringe), such as images, indicia (e.g. scalemarks, numbers or text) or a volume level of a liquid in the syringe.Accordingly, the syringe image information can be clearly viewed andthus image processing based on the image information may be performedthereon.

Moreover, holding at the syringe connector rather than at the barrelrenders the securing of the contact more effective and safe. Forinstance, holding closer to the contact point makes it easier to alignthe septa and securing the contact therebetween. In some examples, thesyringe barrel and/or any part of the syringe assembly 18 other than thesyringe connector 50 is maintained free of contact by the manipulatorduring the transfer of drug.

It is noted that is some examples, a manipulator is structured with asingle arm. Such as for example, a manipulator comprising a single armwhich acts as a gripping arm, engaging arm as well as a plunger arm, orfor example a manipulator comprising two arms including a gripping armas well as a plunger arm. In such single or two arm manipulators, themanipulator arm is configured to grip the syringe assembly away ordistally from the syringe 54, such as by gripping the syringe assembly18 at the syringe connector, such as at least away from the syringebarrel. In such single or two arm manipulators, the syringe connectormay be configured to attach to a container adapter/connector such as avial adaptor or an IV bag spike adaptor.

It is noted that in some examples, the manipulator 32 is arranged tocontact the syringe 54 and other adaptations may or may not be made toaccommodate a variety of syringes 54 dimensioned with different lengthsand diameters.

As seen in FIG. 3C, the engaging arm 238 and the gripping arm 234 aremounted on a support base 340 and are slidably coupled to each other viaa sliding assembly 344. The sliding assembly 344 comprises a mountingwall 346 formed with guiderails 348 thereon. The guiderails 348 areoperative to axially slide along a slider 350 (e.g. a bearing) fixed tothe engaging arm 238 so as to axially move the gripping arm 234 towardsthe engaging arm 238. The advancement of the support base 340 towardsthe engaging arm 238 causes the engaging arm 238, when positioned toabut the radial stop 164 of the sleeve 58, to apply an axial compressionforce on the radial stop 164. In turn, the radial stop 164 presses thesyringe septum 20 towards the container-septum 16.

As described hereinabove, the engaging arm 238 is arranged to engage theengaging portion 240 at the sleeve 58 and the gripping arm 234 isarranged to grip the grip portion 236 at the body member 52.Displacement of the grip portion 236 towards the engaging portion 240causes the needle 22 to extend through the syringe-septum 20.

In some examples, the manipulator 32 may comprise a pressing mechanism330, or which may be a pressing mechanism, which is configured to ensurea predetermined compression threshold between the syringe-septum 20 andthe container-septum 16 is reached before the needle 22 extends throughthe syringe-septum 20 and the container-septum 16. In the exampleswithout the needles or where the needle needs not penetrate the septa,the pressing mechanism is configured to ensure that a predeterminedcompression threshold between the syringe-septum 20 and thecontainer-septum 16 is reached before the relative movement of thesleeve and the body member of the syringe connector, or the relativemovement between the gripping arm and the engaging arm, begins.Furthermore, the pressing mechanism 330 is configured to ensure thepredetermined compression threshold between the syringe-septum 20 andthe container-septum 16 is maintained during fluid transfer via theneedle 22, and in some examples, is maintained thereafter duringwithdrawal of the needle 22 from the container-septum 16.

In some embodiments, the syringe assembly 18 operated by the roboticsystem 12 may be such that the sleeve 58 is fixedly coupled relative tothe syringe-septum 20 and the body member 52 is fixedly coupled relativeto the needle 22. The robotic system 12 is configured so that theengaging portion 240 is on the sleeve 58 and the grip portion 236 is onthe body member 52 so that displacement of the grip portion 236 towardsthe engaging portion 240 causes the needle 22 to extend through thesyringe-septum 20. The controller unit 30 (1A) is configured to causerelative movement of the gripping arm 234 towards the engaging arm 238to extend the needle 22 through the syringe-septum 20 andcontainer-septum 16, when the predetermined compression thresholdbetween the container-septum 16 and the syringe-septum 20 is reached.

The engaging arm 238 is coupled to the gripping arm 234 so that thegripping arm 234 resists axial movement towards the engaging arm 238when an axial force below a predetermined pressing threshold is appliedto the gripping arm 234, while the engaging arm 238 is maintainedaxially stationary.

The pressing mechanism 330 may comprise a resisting member 334, which inthe illustrated example is a compression element or a spring 334, whichis arranged to be compressible only when an axial compression force ofthe magnitude of the predetermined pressing threshold (Ft) is applied onthe spring 334. Resisting member 334 is not limited to a spring per se,but may be any device or mechanism that provides a resistance force, arestorative force, or a compressible resistance force. In some examples,the moving support base 340 can apply the axial compression force of themagnitude of Ft on the spring 334. In some examples, the resistingmember can be any other compression element. In some examples, theresisting member can be any element or can have any structure configuredto elastically deform upon application of force thereon and to resistthe relative movement between the sleeve and the body member of thesyringe connector, or the relative movement between the gripping arm andthe engaging arm.

This arrangement (namely of the spring 334 being compressible uponapplication of the axial compression force of the magnitude of Ft) maybe achieved in any suitable manner.

In some examples, the spring 334 may be preloaded at the magnitude ofthe predetermined pressing threshold. The preloaded spring 334 isfixedly coupled to the engaging arm 238 and is mounted on the movablesupport base 340 on which the gripping arm is mounted. In order to allowthe support base 340 to advance the gripping arm 234 towards theengaging arm 238, the spring 334 must be compressed. In order to furthercompress the spring 334 it is required to apply a greater force than thethreshold force so as to resist and overcome the preload force. Thus,only when the moving support base 340 applies an axial compression forceof the magnitude of the predetermined pressing threshold (Ft) on thespring 334 (while the engaging arm is maintained axially static (e.g. byabutting on the radial stop 164 of the sleeve 58 when the syringe-septum20 and the container-septum 14 are in contact)), can the preloaded statebe overcome so that the spring 334 is further compressed.

As seen in FIG. 3D, when the axial force reaches the pressing threshold,the preloaded spring 334 may further compress, allowing support base 340to advance the gripping arm 234 towards the engaging arm 238. Theapplied force Ft on the base 340 is transmitted to the engaging arm 238,coupled to the spring 334, which applies the force Ft on radial stop164. In turn, the radial stop 164 presses the syringe septum 20 towardsthe container-septum 16 with the Force Ft.

When the axial force reaches the pressing threshold, the preloadedspring’s further compression enables the base support 340 to advance thegripping arm 234 towards the engaging arm 238, causing the needle 22 toextend into the syringe-septum 20 while the syringe-septum 20 pressesagainst the container-septum 16 at the force Ft and/or a force greaterthan Ft.

In some examples, the spring 334 may be formed of a structure, e.g. of aspring constant (k) designed to allow the spring to compress uponapplication of the axial compression force of the magnitude of Ft. Thespring constant may be determined based on any one or more of : ameasure of the stiffness of the spring material, the thickness of thewire from which the spring is wound, the diameter of the spring coils(in case of a coiled spring) of the turns of the coil, the pitch of thespring, and the overall length of the spring.

The compression element 334 may comprise any mechanical elementresistive to a force which is arranged to be compressible only when theaxial compression force of the magnitude of the predetermined pressingthreshold (Ft) is applied on the mechanical element. In a non-limitingexample, the mechanical element may comprise the spring 334.

Accordingly, it is recognized that due to the pressing mechanism 330,the needle is allowed to extend through the syringe-septum 20 only whenthe predetermined compression threshold between the syringe-septum 20and the container-septum 16 is reached and maintained.

The compression element 334 may comprise any element configured to pressupon the manipulator 32, e.g. a piston, a pneumatic actuator, ahydraulic actuator and the like.

It is appreciated that the pressing mechanism 330 may comprise anyconfiguration for ensuring the predetermined compression threshold asdescribed hereinabove, such as by way of example, a mechanical orelectrical stopper configured to allow the extension of the needle 22into the syringe-septum 20 only upon detection by a pressure sensor thatthe predetermined compression threshold was reached.

Furthermore, the compression element 334 is configured to maintain thepredetermined compression threshold between the syringe-septum 20 andthe container-septum 16 during withdrawal of the needle 22 from thecontainer-septum 16, as will be further described in reference to theoperational stage shown in FIGS. 11A-C.

Following withdrawal of the needle 22 from the container-septum 16, thebase support 340 may be moved away from the container-septum 16 ceasingits application of force on the engaging arm 238. At this stage ofoperation, the spring 334 or any other compression element is configuredto press the engaging arm 238 against the radial stop 164 therebysecuring the engaging arm 238 to the radial stop 164.

In some examples the pressing mechanism 330 may constitute a contactsecuring mechanism configured for preventing the extension of the needle22 at least until the predetermined compression threshold between thecontainer-septum 16 and the syringe-septum 20 is reached. Themanipulator is configured to apply a compression force with a magnitudeless, equal or more than the predetermined compression threshold.

Accordingly, the contact securing mechanism is configured for preventingthe extension of the needle 22 whereupon the manipulator 32 applies thecompression force with a magnitude less than the predeterminedcompression threshold. Furthermore, the contact securing mechanism isconfigured for allowing the extension of the needle 22 whereupon themanipulator 32 applies the compression force with a magnitude equal ormore than the predetermined compression threshold.

In some examples, the extension of the needle 22 is allowed followingdetection of an event. The event may be indicative that the compressionforce magnitude is equal or more than the predetermined compressionthreshold. In some examples, the event comprises the commencement ofcompression of the compression element. In some examples, the eventcomprises the commencement of compression of the spring. The spring(e.g. spring 334 in FIG. 3C) is configured to resist compression whenthe compression force magnitude is less than the predeterminedcompression threshold.

In some examples, the event is detected by a sensor (e.g. a sensor 358shown in FIG. 3F) configured to detect that the compression forcemagnitude is equal or more than the predetermined compression thresholdand to generate a signal indicative thereof. In some examples, thesensor comprises an optical sensor configured to detect the commencementof compression of the spring based on a change in light caused by thecompression of the spring. In some examples, the sensor can beconfigured to monitor the relative movement of the engaging arm and thegripping arm. In some examples, the sensor can be configured to monitorrelative position of at least one of the engaging arm 238 and thegripping arm with respect to the other one. In some examples, the sensorcan be configured to monitor deformation (in the illustrated example,compression) of the spring and/or force acting on the spring. In someexamples, the sensor can be configured to monitor a power consumption bythe motor that is moving the manipulator for its operations. Thecontroller unit is configured to determine an exact location of thefluid transfer conduit (needle, in the illustrated examples) withrespect to the septa based on the above-described monitoring by thesensor. For instance, the controller unit is configured to use at leastsome of the knowledge of the length of the needle, the syringeconnector, the spring, various dimensions of the engaging arm andgripping arm, the power consumption of the motor to determine whether atip (or the port of the needle configured for transfer of fluid) of theneedle is at a reference location which is most suited (predeterminedlocation) for the transfer of fluid.

In some examples, following the transfer of the fluid, the gripping arm234 may move the body member 52 away from the sleeve 58, which removesthe needle 22 from the container-septum 16. The engaging arm 238 and thegripping arm 234 are distanced from the container 14 for disconnectingthe syringe-septum 20 from the container-septum 16. The controller unit30 is configured to operate the gripping arm 234 to distance the bodymember 52 from the sleeve 58 so that the needle 22 is moved into thesyringe-septum 20 and the distal tip of the needle 22 is enclosed in thesyringe-septum 20.

In some examples, a sensor 358 is provided and configured to detect thereaching of the predetermined compression threshold between thecontainer-septum 16 and the syringe-septum 20 and to generate a signalindicative thereof. Upon receipt of the signal, the controller unit 30causes the needle 22 to extend through the syringe-septum 20 andthereafter through the container-septum 16 and to the container.

The sensor 358 may be positioned at any suitable location and maycomprise any suitable configuration facilitated for detecting thereaching of the predetermined compression threshold.

In some examples, such as shown in FIG. 3F, the sensor 358 may bepositioned proximally to the spring 334 and may be configured to detectthe contraction of the spring 334. As the sensor 358 detects thecommencement of the contraction of the spring 334, the sensor 358transmits a signal indicative thereof, which causes the controller unit30 to allow the support base 340 to advance the gripping arm 234 towardsthe engaging arm 238. As described herein above with reference to FIG.3D, the applied force Ft on the base 340 is transmitted to the engagingarm 238, coupled to the spring 334, which applies the force Ft on radialstop 164. In turn, the radial stop 164 presses the syringe septum 20towards the container-septum 16 with the Force Ft. When the axial forcereaches the pressing threshold, the preloaded spring’s furthercompression enables the base support 340 to advance the gripping arm 234towards the engaging arm 238, causing the needle 22 to extend into thesyringe-septum 20 while the syringe-septum 20 presses against thecontainer-septum 16 at the force Ft and/or a force greater than Ft.

In some examples, the controller unit 30 may be configured to cause theneedle 22 to extend within the container 14 to a predetermined extent,generally in conjunction with a length of the needle 22.

It is noted that sensor 358 or an additional sensor may be configured todetect the movement of the gripping arm 234 or the engaging arm 238.

In some examples, the sensor 358 may comprise an inductive sensoroperative to detect or measure objects by electromagnetic induction. Insome examples, the sensor 358 may comprise an optical sensor configuredto detect objects by sensing light or by any other suitable mechanism.FIGS. 4A and 4B are pictorial illustrations of the gripping arm 234shown prior to its operation (4A) and during its operation (4B). As seenin FIGS. 4A and 4B, the gripping arm 234 comprises at least oneprojecting element 370 configured to apply a radial or lateral force Fron the external wall 140 of the syringe connector 50 (4B). Thecontroller unit 30 is configured for controlling the gripping arm 234 toselectively apply the radial or lateral force Fr so as to press upon thesyringe-connector actuator 72 of the syringe assembly 18.

The projecting element 370 may be formed in any suitable manner, such asa plate 374 formed with an arcuate groove 376. In some examples, thegripping member 234 comprises at least two (or more) oppositely facingplates 374 comprising a first and second pair (or more) of projectingelements 370, which are configured for accessing the first and secondpairs of openings 148 and 150 (2G), respectively. The two oppositelyfacing plates are configured to be spaced apart from each other suchthat the arcuate grooves 376 form a gap therebetween. The gap isdimensioned for disposing the syringe assembly 18 therein.

The gripping arm 234 may comprise an additional pair of projectingelements 378 for securing its grip on the grip portion 236.

The gripping arm 234 may comprise two mutually movable sliders 380operable to separate from each other in the orientation of transverseaxis x 3 or any other axis, for positioning the projecting elements 370away from the pairs of openings 148 and 150 (2A), and operable toreconnect for positioning the projecting elements 370 proximal to thepairs of openings 148 and 150. The sliders 380 may be configured tolaterally slide along a grooved support bar 384 mounted on the mountingwall 346 (3C) comprising a driving actuator, such as a pneumaticactuator configured to move the grooved support bars 384 towards andaway from each other in the orientation of transverse axis x 3.

The gripping arm 234 may comprise two oppositely facing frames 388configured for mechanically connecting the projecting elements 370 tothe sliders 380.

FIGS. 5A and 5B are pictorial illustrations of the engaging arm 238shown prior to its operation (5A) and during its operation (5B). Theengaging arm 238 is formed with a pressing surface 400 configured forpressing the engaging portion 240 of the syringe assembly 18 in anyorientation (e.g. axial, radial, angular) and the engaging portion 240may be disposed at any location of the syringe assembly 18. As seen inFIGS. 5A and 5B, the pressing surface 400 is configured for axiallypressing the radial stop 164 of the syringe assembly 18 to secure thecontact between the container-septum 16 and the syringe-septum 20, asshown in FIG. 5B.

In some examples, the pressing surface 400 comprises an arcuate portion402 dimensioned to surround the syringe assembly 18 and to form a radialgap 406 with the external wall 140 of the syringe assembly 18. The gapmay be dimensioned to allow the distal end of the body member 52 to abutwith the radial stop 164 when the syringe connector 50 is positioned inthe collapsed position (2H).

In an alternative example, the pressing surface 400 is configured tomate with external wall 140 of the syringe assembly 18 so that there isno radial gap between the external wall 140 the pressing surface 400.

The pressing surface 400 of engaging arm 238 generally extendsperpendicularly to the longitudinal axis Lx 1 and protrudes from anaxially projecting portion 410 projecting from an inverted L-shaped bar412.

It is appreciated that though it is described in reference to FIGS.3A-5B that the engaging arm 238 engages the sleeve 58 and the grippingarm 238 grips the body member 52, the position may be interchanged andany one of the engaging arm 238 and the gripping arm 234 grips the bodymember 52, aligns the syringe assembly 18 with the container 14 andbrings the syringe-septum 20 in contact with the container-septum 16.Any one of the engaging arm 238 and the gripping arm 234 presses thesyringe-septum 20 against the container-septum 16 to secure contacttherebetween. Any one of the engaging arm 238 and the gripping arm 234causes the collapsible movement of the body member 52 towards the sleeve58, which executes penetration of the container-septum 16 by the needle22 for facilitating the transfer of the fluid.

It is noted that the fluid transfer station 10 or 10A may be configuredin some examples with a relatively small footprint (namely comprising arelatively small area or floor space) due to the shifting of themanipulator 32 from a first to a second container holding module byrotation of the shaft 264 about rotation axis r 1. For example themanipulator 32 rotates from the vial assembly holding module 208 to theIV bag holding module 214, which takes less space than linearlydisplacing the manipulator 32. Furthermore, the manipulator 32 may beformed as an integrated manifold comprising arms (e.g. the grippingarms, engaging arm and plunger arm) allowing the manipulator 32 to becontrolled by relatively few driving actuators and less components thanwould have been required for discrete arms in a non-integratedmanipulator.

As seen in FIG. 5C showing a top view of a portion of FIG. 3A, themanipulator 32 is configured to be a rotatable manipulator rotatableabout its rotation axis r 1 (3A). The rotation axis r 1 may be thelongitudinal axis of the manipulator 32, shown as vertical axis x 1 inFIG. 3A.

The manipulator 32 is controllable by the controller unit 30 (FIG. 1A)to be rotated for moving the gripping arm 238 (FIG. 3A), while grippingthe syringe assembly 18 between a first position, aligned with the firstcontainer holder, and a second position, aligned with the secondcontainer holder, along an arcuate path p1. The first and secondcontainer holders may comprise any one of the vial assembly holdingmodule 208 and the IV bag holding module 214 and the first and secondcontainer holders spaced apart from each other by the arcuate path p1.

In some examples, the first and the second positions may be located atany suitable location. Such a location may comprise in a non-limitingexample, one of the center of the vial, when positioned along axis Lx 2and the center of the IV bag, when positioned along axis Lx 3. Inanother non-limiting example the location may comprise any location ofthe vial assembly holding module 208 and the IV bag assembly holdingmodule 214.

In some examples, the gripping arm 238 is moved from the first positionto the second position along the arcuate path p1 in a single andcontinuous motion. In some examples, the gripping arm 238 is moved fromthe first position to the second position only along the arcuate path p1in a single and continuous motion.

The arcuate path p1 may be arranged around the rotation axis r 1, suchthat the first container holder is configured to hold the firstcontainer (e.g. at the vial assembly holding module 208) at a firstdistance Y1 from the rotation axis taken in a first directionperpendicular thereto, and the second container holder (e.g. at the IVbag assembly holding module 214) is configured to hold the secondcontainer at a second distance Y2 from the rotation axis taken in asecond direction perpendicular thereto. In some examples the firstdistance Y1 is equal to the second distance Y2. The first and seconddirections may define an arcuate path angle A1 of the first and seconddirection, which corresponds to an arc length of the arcuate path p1.

The manipulator 32 is configured to move at least a part of the syringeassembly 18 along a direction parallel to the rotation axis r 1 when thesyringe assembly 18 is at, at least one of the first and secondpositions. Furthermore, the manipulator 32 is configured to establish afirst fluid communication between the syringe assembly 18 and the firstcontainer (e.g. the vial assembly 210) when the first container is heldby the first container holder (e.g. the vial assembly holding module208), and a second fluid communication between the syringe assembly 18and the second container (e.g. the IV bag 216) when the second containeris held by the second container holder (e.g. the IV bag assembly holdingmodule 214). It is appreciated that the displacement of the manipulator32 form the vial assembly holding module 208 to the IV bag holdingmodule 214 and vice versa may be linear (i.e. not rotational) or anyother axial and/or lateral displacement.

FIGS. 6A-15C illustrate ten subsequent operational stages for performinga method for fluid transfer within the fluid transfer station 10. It isappreciated that these stages are described by way of example and moreor less operational stages may be performed. Additionally, it isappreciated that sequence of the stages may be interchangeable.Furthermore, the fluid transfer may be performed in other examples ofthe fluid transfer stations, such as for example the fluid transferstation 10A of FIGS. 16A-E.

In general, there is provided a method for using the robotic system 12for transferring fluid between the container 14, which is accessible viathe container-septum 16, and the syringe assembly 18 and is displaceablerelative to the needle 22 to allow the needle 22 to extend therethrough.In some examples, the method may comprise one or more of the followingoperational steps: bringing the container-septum 16 into contact withthe syringe-septum 20; extending the needle of the syringe assembly 18through the container-septum 16 and the syringe-septum 20; transferringfluid via the needle 22 while the needle 22 extends through thecontainer-septum 16 and the syringe-septum 20 and securing contactbetween the container-septum 16 and the syringe-septum 20 at leastduring the transfer of the fluid via the needle 22, while the needle 22extends through the container-septum 16 and the syringe-septum 20.Securing contact between the container-septum 16 and the syringe-septum20 is performed by the robotic system 12 pressing the container-septum16 and syringe-septum 20 onto each other. It is to be understood hereinthat in examples without the needle or with needle not penetrating theseptum, the step of penetrating the needle is replaced by a step ofestablishing fluid communication between the fluid transfer assembly andcontainer.

In some examples, securing contact between the container-septum 16 andthe syringe-septum 20 is performed by the robotic system 12 pressing thecontainer-septum 16 and syringe-septum 20 onto each other additionallyduring needle extension through the container-septum 16 and thesyringe-septum 20 and further during needle 22 withdrawal therefrom.

In some examples, securing the contact between the container-septum 16and the syringe-septum 20 is performed when the container 14 and thesyringe assembly 20 are free of securing means to secure the contacttherebetween.

In some examples, securing the contact between the container-septum 16and the syringe-septum 20 is performed when the engaging arm 238 isarranged to engage the syringe assembly portion (e.g. the engagingportion 238) away from the syringe-septum 20 and the container-septum16.

In some examples, bringing the container-septum 16 into contact with thesyringe-septum 20 comprises engaging the manipulator 32 with a portionof the syringe assembly 18 and coaxially positioning the manipulator 32with the container-septum 16 at a predetermined axial distance from thecontainer 14.

In some examples, extending the needle 22 through the container-septum16 and the syringe-septum 20 comprises reducing the predetermined axialdistance between the syringe assembly 18 and the container 14, therebyadvancing the needle 22 towards the container 14.

In some examples, reducing the predetermined axial distance comprisesadvancing the manipulator 32 towards the container 14. In some examples,reducing the predetermined axial distance comprises advancing thecontainer 14 towards the manipulator 32.

The contact between the container-septum 16 and the syringe-septum 20may be a tightly sealed contact.

In some examples, the method additionally comprises providing thesyringe connector 50 including the body member 52 connectable to thesyringe 54 of the syringe assembly 20 at a syringe connecting portion.The body member 52 is shaped to define a body lumen. The method furthercomprises providing the sleeve 58 arranged coaxially movable relative tothe body member 52. The syringe-septum 20 is mounted at a distal end 60of the sleeve 58. The manipulator 32 comprises the engaging arm 238 andthe gripping arm 234 controllable by the controller unit 30 for grippinganother portion of the syringe assembly 18. The method yet furthercomprises coaxially positioning the gripping arm 234, while gripping thebody member 52 (or in other examples, gripping the sleeve 234 and/or thesyringe 54), at a predetermined axial distance from the container 14,and advancing the gripping arm 234 towards the container 14 for causingthe collapsible movement of the body member 52 towards the sleeve 58 (orin some examples, causing the collapsible movement of the sleeve 58towards the body member 52) for executing the penetration.

The following first to sixth operational stages shown in respectiveFIGS. 6A-11C illustrate the transfer of fluid at the vial assemblyholding module 208 in between the vial assembly 210 and the syringeassembly 18 and particularly the withdrawal of the fluid from the vialassembly 210 into the syringe 54.

FIGS. 6A-C are pictorial illustrations of the fluid transfer station ata first operational stage. As seen in FIGS. 6A-C, at the first initialstage of operation the gripping arm 234 grabs a selected syringeassembly 18 from the carousel conveyor 228. To reach the carouselconveyor 228 the gripping arm 234 is horizontally advanced towards thecarousel conveyor 228. The gripping arm 234 retracts back towards thevial assembly 210 along horizontal axis x 2 (3A).

Prior to being grabbed by the gripping arm 234, the syringe connector 50is locked at the extended position where the needle tip is proximal tothe septum proximal surface 62. This extended position may be deployedfor allowing sterilization of the needle including its needle tip, whenpositioned proximal to the septum proximal surface 62. Sterilizationgasses penetrating the syringe connector 50 are thereby allowed tosterilize the needle 22 along with the needle tip. It is noted that insome embodiments the extended position may be obviated and the syringeconnector 50 is placed within the syringe assembly 18 priorly set in theintermediate position where the needle is disposed in thesyringe-septum.

Thereafter, as the gripping arm 234 grabs the syringe assembly 18, theprojecting elements 370 (6C) of the gripping arm 234 apply a radial orlateral force Fr on the protruding portion 138 of the syringe connector50. This induces actuation of the locking mechanism 70 (1B) fortransitioning the syringe connector 50 from the locked state to theunlocked state.

The engaging arm 238 is positioned away from the engaging portion 240(i.e. radial stop 164). The spring 334 of the pressing mechanism 330 isat its preloaded state.

FIGS. 7A-C are pictorial illustrations of the fluid transfer station ata second operational stage. As seen in FIGS. 7A-C, at the second stageof operation the gripping arm 234 and the engaging arm 238 startadvancing towards the vial assembly 210 along longitudinal axis Lx 1 forbringing the syringe-septum 20 into contact with the container-septum16.

The engaging arm 238 remains positioned away from the engaging portion240 (e.g. radial stop 164). The spring 334 of the pressing mechanism 330remains at its preloaded state.

The syringe connector 50 is at an unlocked state yet still at theextended position, where the needle tip is proximal to the septumproximal surface 62. In some embodiments, the syringe connector 50 isprepositioned in the intermediate (namely normal) position.

It is noted that in some embodiments the extended position can bereferred to as the intermediate position, and the extended positionand/or the intermediate position can each be referred to as the normalposition.

FIGS. 8A-C are pictorial illustrations of the fluid transfer station ata third operational stage. As seen in FIGS. 8A-C, at the third stage ofoperation the engaging arm 238 has advanced along with the gripping arm234 towards the vial assembly 210. The engaging arm 238 abuts againstthe engaging portion 240 by pressing upon the radial stop 164, therebyapplying the axial force on the syringe-septum 20 which presses againstthe container septum 16 of the vial assembly 210. The axial force isshown to be applied at a magnitude less than the predeterminedcompression threshold and thus the spring 334 remains at its preloadedstate.

The syringe connector 50 is at an unlocked state at the intermediateposition where the needle tip is enclosed in the syringe-septum 20.

FIGS. 9A-C are pictorial illustrations of the fluid transfer station ata fourth operational stage. As seen in FIGS. 9A-C, at the fourth stageof operation the engaging arm 238 continues to abut against the engagingportion 240 by pressing upon the radial stop 164, thereby applying theaxial force on the syringe-septum 20. The axial force is shown to beapplied at a magnitude equal or more than the predetermined compressionthreshold. Thus, the spring 334 is released from its preloaded stateallowing it to compress. The gripping arm 234 is now allowed to advancetowards the engaging arm 238 as the pressing mechanism 330 has ensuredthat the predetermined compression threshold between the syringe-septum20 and the container-septum 16 has been reached before the needle 22 canextend through the syringe-septum 20 and the container-septum 16.

The syringe connector 50 is at an unlocked state at the collapsedposition where the needle 22 is extended and the needle tip protrudesbeyond the septum distal surface 66 and into the vial assembly 210.

In some examples, this fourth operational stage may further includedetecting the contraction of the spring 334 in any suitable manner, suchas by the sensor 358, described in reference to FIG. 3F.

FIGS. 10A-C are pictorial illustrations of the fluid transfer station ata fifth operational stage. As seen in FIGS. 10A-C, at the fifth stage ofoperation the plunger 248 is displaced downwards away from the vialassembly 210 to facilitate withdrawal of fluid therefrom. Engaging arm238 continues to abut against the engaging portion 240 by pressing uponthe radial stop 164, thereby applying the axial force on thesyringe-septum 20. Accordingly, the contact between the container-septum16 and the syringe-septum 20 is secured and is maintained all during thetransfer of the fluid from the vial assembly 210 into the syringe 54.

The syringe connector 50 is at the collapsed position where the needletip protrudes beyond the septum distal surface 66 and into the vialassembly 210 for facilitating the transfer of fluid.

FIGS. 11A-C are pictorial illustrations of the fluid transfer station ata sixth operational stage. As seen in FIGS. 11A-C, at the sixth stage ofoperation the plunger 248 remains displaced downwards for containing thefluid in the syringe 54. The gripping arm 234 is axially distanced, e.g.moved away from the engaging arm 238, thereby the syringe connector 50resumes to the intermediate position where the needle tip is withdrawnfrom the vial assembly 210 and is enclosed in the syringe-septum 20.

The compression in the spring 334 is reduced yet the spring 334continues applying an axial force on the engaging arm 238 towards theradial stop 164. Therefore, the engaging arm 238 continues to abutagainst the engaging portion 240 by pressing upon the radial stop 164and applies the axial force on the syringe-septum 20. Accordingly, thecontact between the container-septum 16 and the syringe-septum 20 issecured and is maintained also during withdrawal of the needle 22 fromthe container-septum 16.

The syringe assembly 18 may now be removed from the vial assembly 210.In some examples the syringe assembly 18 may be removed from the fluidtransfer station 10. The syringe connector 50 is positioned at theintermediate position to prevent contamination of the needle tip andmicrobial ingress through the needle tip into the syringe 54 and toprevent inadvertently injuring an operator upon removal of the syringeassembly 18 from the container 14.

In some examples, following the transfer of the fluid from the vialassembly 210, the syringe manipulator module 224 rotates aboutrotational axis r 1 by rotating the shaft 264 of the primary drivingassembly 260 in the orientation of arrow r2 (3A and 3B) from the vialassembly holding module 208 to the to the IV bag holding module 214. Insome embodiments the vial assembly holding module 208 moves to the tothe IV bag holding module 214 by linear displacement or any otherdisplacement.

As the syringe manipulator module 224 is removed from the vial assembly210 the spring 334 can resume back to its uncompressed state. The spring334 is configured to cause the manipulator to displace the needle 22into its extended position or intermediate position or normal positionafter completion of said transfer of fluid.

The spring 334 continues applying an axial force on the engaging arm 238towards the radial stop 164. Therefore, the engaging arm 238 continuesto abut against the engaging portion 240 by pressing upon the radialstop 164, applying the axial force on the syringe-septum 20.

The plunger 248 remains displaced downwards for containing the fluid inthe syringe 54.

The following seventh to tenth operational stages shown in respectiveFIGS. 12A-15C illustrate the transfer of fluid at the IV bag holdingmodule 214 in between the IV bag 216 and the syringe assembly 18 andparticularly the injection of the fluid from the syringe 54 into the IVbag 216.

FIGS. 12A-C are pictorial illustrations of the fluid transfer station ata seventh operational stage. As seen in FIGS. 12A-C, at the seventhstage of operation the contact between the syringe-septum 20 and the IVbag septum 16 is yet to be established. It is seen that the IV bagseptum 16 comprises the preexisting medicine port 500 of an IV bag. TheIV bag holding module 214 may comprise supports, such as tongs 510 forsupporting the IV bag port 500 and for preventing its misalignment.

The gripping arm 234 maintains its grip at the griping portion 236 ofthe syringe assembly 18. The projecting elements 370 (4A) of thegripping arm 234 continue applying the radial or lateral force Fr on theprotruding portion 138 of the syringe connector 50. The syringeconnector 50 remains at the intermediate position where the needle tipis enclosed in the syringe-septum 20.

The spring 334 continues applying an axial force on the engaging arm 238towards the radial stop 164. Therefore, the engaging arm 238 continuesto abut against the engaging portion 240 by pressing upon the radialstop 164, applying the axial force on the syringe-septum 20.

The plunger 248 remains displaced downwards for containing the fluid inthe syringe 54.

FIGS. 13A-C are pictorial illustrations of the fluid transfer station atan eighth operational stage. As seen in FIGS. 13A-C, at the eighth stageof operation the gripping arm 234 and the engaging arm 238 startadvancing towards the IV bag 216 along longitudinal axis Lx 1 (3B) forbringing the syringe-septum 20 into contact with the container-septum16, e.g. the IV bag port 500.

The engaging arm 238 continues to abut against the engaging portion 240by pressing upon the radial stop 164, thereby applying the axial forceon the syringe-septum 20. As the gripping arm 234 further advancestowards the engaging arm 238 the spring 334 is compressed.

The syringe connector 50 is at an unlocked state at the collapsedposition where the needle 22 is extended and the needle tip protrudesbeyond the septum distal surface and into the IV bag 216.

The plunger 248 remains displaced downwards for containing the fluid inthe syringe 54.

FIG. 14 is a pictorial illustration of the fluid transfer station at aninth operational stage. As seen in FIG. 14 , the ninth operationalstage is similar to the eighth operational stage (13A-C) with respect tothe position of the engaging arm 238 and the gripping arm 234, thespring 334 remains compressed and the syringe connector 50 (hidden bythe gripping arm 234) remains in the collapsed position where the needle22 is extended and the needle tip protrudes beyond the septum distalsurface 66 and into the IV bag 216.

In FIG. 14 the plunger 248 is displaced upwards towards the IV bag 216for injecting the fluid of the syringe 54 into the IV bag 216.

FIGS. 15A-C are pictorial illustrations of the fluid transfer station ata tenth operational stage. As seen in FIGS. 15A-C, at the tenth stage ofoperation the contact between the syringe-septum 20 and the IV bagseptum 16 (IV bag port 500) is maintained.

The gripping arm 234 releases its grip at the griping portion 236 of thesyringe assembly 18. The projecting elements 370 of the gripping arm 234cease applying the radial or lateral force Fr on the protruding portion138 of the syringe connector 50, which now protrude from the openings150. The syringe connector 50 is positioned at the intermediate positionwhere the needle tip is enclosed in the syringe-septum 20, yet in alocked state.

Following the transfer of the fluid from the syringe assembly 18 intothe IV bag 216, the operation of the fluid transfer has commenced.

FIGS. 16A-E illustrate another example of a fluid transfer station 10Aof the robotic pharmaceutical preparation system 12 operable fortransferring fluid from the syringe assembly 18 to the container 14. Ina non-limiting example, the fluid transfer may be from the vial assembly210 to a syringe assembly 18A and from the syringe assembly 18A to theIV bag 216.

It is appreciated that the syringe assembly 18A comprises a similarconfiguration to the syringe assembly 18 of FIGS. 2A-H yet with someadaptations which will be further described in reference to FIGS. 17Aand 17B. It is noted that any one of the syringe assemblies describedherein, such as syringe assembly 18 and syringe assembly 18A can bedeployed in any one of the fluid transfer stations described herein.

A syringe manipulator module 224A is disposed in proximity to thecarousel conveyor 228 as described in reference to syringe manipulatormodule 224 in FIG. 3A.

The syringe manipulator module 224A comprises a manipulator 32Aconfigured with at least one arm operable to contact a portion of thesyringe assembly 18A and move the syringe assembly 18A along any one ofthe vertical axis x 1, the horizontal axis x 2 transverse axis x 3,and/or about the rotation axis r 1 (3A).

Any one of the arms is displaced by a driving assembly comprising adriving actuator. The driving actuator is configured for actuating themovement of the arm and may comprise in a non-limiting example any oneof a motor, a servo motor, a hydraulic motor, a pneumatic motor, anelectric motor, a magnetic motor, a mechanical actuator such as aspring, a piston and a combination thereof.

The driving actuator actualizes the displacement of the arms by at leastone motion transmission member such as a shaft, a guiderail, a belt, apulley, a gear and a combination thereof or any other suitable motiontransmission member.

As seen in FIGS. 16A-E, the manipulator 32A comprises a gripping arm234A. The gripping arm 234A is configured for gripping a grip portion236A (16C) of the syringe assembly 18A and for moving and holding thesyringe assembly 18A along vertical axis x 1 (3A). Furthermore, thegripping arm 234A is configured to be controllably movable relative tothe container holding module 208 configured to hold the container 14 sothat the gripping arm 234A can align the syringe-septum 20 and thecontainer-septum 16 and bring the syringe-septum 20 in contact with thecontainer-septum 16 when the gripping arm 234A holds the syringeassembly 18A.

In the example of FIGS. 16A-E the griping arm 234A is positioned at gripportion 236A (16C) which is disposed at the sleeve 58A.

The gripping arm 234A is configured to perform the following operations:(i) to selectively apply the radial or lateral force Fr so as to pressupon the syringe-connector actuator 72 (17B) of the syringe assembly 18Afor transitioning from a locked state to an unlocked state so as toposition the syringe connector 50A in any one of the extended position,the intermediate position and the collapsed position; (ii) to grip thesleeve 58A, align the syringe assembly 18A with the container 14 andbring the syringe-septum 20 in contact with the container-septum 14. Thegripping arm 234A is configured to perform these operations eithersimultaneously or successively.

The manipulator 32A further comprises an engaging arm 238A configured toengage the syringe assembly 18A at an engaging portion 240A and isconfigured for axial movement relative to the gripping arm 234A.

In some examples, the engaging arm 238A and the gripping arm 234A aremechanically coupled so that the engaging arm 238A and the gripping arm234A are operable to be controllably displaced either axially togetheror axially relatively to each other.

In the example of FIGS. 16A-E the gripping arm 234A is shown to bedisposed axially above the engaging arm 238A.

The engaging arm 238A and the gripping arm 234A are operable, separatelyor together, to align the syringe-septum 20 of the syringe assembly 18Aand the container-septum 16 of the container 14, bring thesyringe-septum 20 in contact with the container-septum 16, press thesyringe-septum 20 against the container-septum 16 to secure contacttherebetween, and to execute penetration of the syringe-septum 20 andthe container-septum 14 by the needle 22 for enabling the transfer ofthe fluid, while the contact between the container-septum 16 and thesyringe-septum 20 remains secured by any one of the engaging arm 238Aand the gripping arm 234A.

The manipulator 32A additionally comprises the plunger arm 244 (16A).

In the example of FIGS. 16A-E, the driving assembly comprises theprimary driving assembly 260 operable by its servo-motor 262 to actuateaxial displacement of the syringe manipulator module 224A along themovable shaft 264 in the orientation of vertical axis x 1 (3A). Theaxial displacement facilitates simultaneous movement of the engaging arm238A, the gripping arm 234A and the plunger arm 244, towards thecontainer 14 and away therefrom for transferring the fluid, similar tothe description of the operational stage which was described inreference to FIGS. 7A-C. In other words, the primary driving assembly260 is configured to simultaneously advance the engaging arm 238A andthe gripping arm 234A towards the container 14 while bringing theengaging arm 234A to the syringe assembly 18A for pressing thereon.

In the example of FIGS. 16A-E the engaging arm 234A axially presses uponthe engaging portion 240A, which is disposed at a proximal edge 600(16C) of the body member 52A, so as to contact and maintain the securedcontact between the syringe-septum 20 and the container-septum 16.

As described hereinabove in reference to FIGS. 3A-E, following thetransfer of the fluid from the vial assembly 210, the primary drivingassembly 260 is further operable for rotational, and/or axial or linearor lateral displacement of the syringe manipulator module 224 from thevial assembly holding module 208 to the IV bag holding module 214 andvice versa, similar to the description in reference to FIGS. 11A-C.

As described hereinabove in reference to FIGS. 3A-E, secondary drivingassembly 270 is operable by its servo-motor 272 to actuate displacementof the manipulator 32A in the orientation of horizontal axis x 2 (3A)for allowing the gripping arm 234A to grab a selected syringe assembly18A from the carousel conveyor 228. The gripping arm 234A horizontallyretracts back towards the vial assembly holding module 208 so as tofacilitate alignment of the syringe assembly 18A with the vial assembly210, similar to the description of the operational stage, which wasdescribed in reference to FIGS. 6A-C.

As described hereinabove in reference to FIGS. 3A-E, the tertiarydriving assembly 290 is operable by its servo-motor 292 to actuate axialdisplacement of the plunger arm 244. Downward axial displacement awayfrom the container 14 facilitates withdrawal of fluid from the container14 into the syringe assembly 18A, as described in reference to theoperational stage shown in FIGS. 10A-C, and axial displacement upwardstowards the container 14 facilitates injection of fluid into thecontainer 14, similar to the description in reference to the operationalstage shown in FIG. 14 .

As seen in FIGS. 16B and 16C, the engaging arm 238A is horizontallydisplaced along horizonal axis x 2 (3A) by a displacement actuatorformed in any suitable manner, such as a pneumatic actuator 620 actuatedby a motor 622 or by any other suitable means. The displacement actuatoris configured for causing the engaging arm 238A to horizontally advancetowards the engaging portion 240A on the syringe assembly 18A. Theengaging portion 240A is shown here to be disposed at the proximal edge600 (17B) of the body member 52A, which is axially pressed upon by theengaging arm 238A, as will be further described in reference to FIG.16E. The engaging arm 238A may be configured to mate with the hub 312 ofthe syringe 54 for securely engaging with the syringe assembly 18A.

Subsequent to the gripping arm 234A aligning the syringe assembly 18Awith the container 14 and bringing the syringe-septum 20 in contact withthe container-septum 14, the gripping arm 234A remains generallystationary. The engaging arm 238A is configured to axially advancetowards the gripping arm 234A to cause the needle 22 to extend throughthe syringe-septum 20, while axially pressing on the engaging portion240A. This is for maintaining the secured contact between thesyringe-septum 20 and the container-septum 16 during fluid transfer.

The axial displacement of the engaging arm 238A may be performed in anysuitable manner, such as by the axial displacement of the tertiarydriving assembly 290 which causes the movement of the syringe 54 and thebody member 52A relative to the sleeve 58A. The pneumatic actuator 620is coupled to the tertiary driving assembly 290 via a flange 628 and ashaft 630. Accordingly, the engaging arm 238A while engaging the bodymember 52A is axially displaced along with the axial displacement oftertiary driving assembly 290.

In the example of FIGS. 16A-E, the manipulator 32A may or may notcomprise the pressing mechanism 330. In some examples, ensuring thepredetermined compression threshold between the syringe-septum 20 andthe container-septum 16 is reached before the needle 22 extends throughthe syringe-septum 20 and the container-septum 16, may be performed bythe controller unit 30 (1A) operable to cause the engaging member 238Ato axially press upon the engaging portion 240A at least with acompression magnitude of the predetermined compression threshold.

Additionally, or alternatively a pressure sensor or any other suitablemeans may be provided to detect when that the predetermined compressionthreshold was reached.

In some examples, the manipulator 32A may operate without ensuring thepredetermined compression threshold between the syringe-septum 20 andthe container-septum 16 is reached before the needle extends through thesyringe-septum 20 and the container-septum 16.

FIG. 16D is an illustration of the gripping arm 234A. The gripping arm234A is similar to the gripping arm 234 of FIGS. 4A and 4B, comprisingthe projecting elements 370 configured to apply the radial or lateralforce Fr (e.g. in the orientation of transverse axis x 3) on theexternal wall 140 of the syringe connector 50A and the additional pairof projecting elements 378 for securing its grip on the grip portion236A. Yet the additional projecting elements 378 of gripping arm 234Aare arranged to be positioned distally with respect to the syringe 54while the additional projecting elements 378 of gripping arm 234 (FIGS.4A and 4B) are arranged to be positioned proximally with respect to thesyringe 54.

FIG. 16E is an illustration of the engaging arm 238A formed with thepressing surface 400A and configured for axially pressing the engagingportion 240A of the syringe assembly 18A. The engaging portion 240A isshown to comprise the proximal edge 600 of the body member 52A(16C-17B). The pressing surface 400A may be formed on an upper surfaceof an axially projecting portion 410A projecting from an invertedL-shaped bar 412A. The projecting portion 410A may be formed with ahemicylindrical configuration sized to mate with the hub 312 of thesyringe 54, it being appreciated that the axially projecting portion410A may be formed in any suitable shape for engaging the syringeassembly 18A.

FIGS. 17A and 17B are pictorial illustrations of the syringe connector50A configured to be deployed with a syringe 54 used for transferring afluid in the robotic pharmaceutical preparation system 12. The syringeconnector 50A is another example of the syringe connector 50 shown inFIGS. 2A-15C. The syringe connector 50A may be identical to syringeconnector 50 yet may comprise some adaptations for deployment of thesyringe connector 50A in the fluid transfer station 10A of FIGS. 16A-Eor any other fluid transfer station. In the syringe connector 50 shownin FIGS. 2A-15C the sleeve 58 is configured to be inserted into the bodymember 52 in the collapsing position, while in the syringe connector 50Ashown in FIGS. 16A-E the body member 52A is configured to be insertedinto the sleeve 58A. Additionally, the syringe connector 50A does notcomprise the rim radially protruding from the outer surface 126 of thesleeve 58, rather the engaging portion 240A (e.g. the radial stop)comprises the proximal edge 600 of the body member 52B.

FIG. 18 is a side view cross, sectional illustration of a syringeconnector 50B, which is another example of the syringe connector 50shown in FIGS. 2A-15C and syringe connector 50A shown in FIGS. 16A-E.The syringe connector 50B may be identical to syringe connector 50 yetmay comprise other examples of the syringe-septum 20B and/or needle 22B.In the syringe connector 50 shown in FIGS. 2A-15C, the syringe-septum 20is formed as a monolith without recesses or bores and is configured tobe repeatedly pierceable by the needle 22 or needle 22B, such as bybeing formed by a resilient material or by any other means. As seen inFIG. 18 , the syringe-septum 20B may be formed with an axially extendingthroughgoing (partially or fully) bore 700 extending from the septumproximal surface 62 to the septum distal surface 66 and dimensioned forreceiving the needle 22 or needle 22B to allow it to extend beyond theseptum distal surface 66. It is noted that the syringe-septum 20B formedwith bore 700 may be implemented in the syringe connector 50 shown inFIGS. 2A-15C.

Needles are formed with openings at their distal end for transfer offluid therethrough. The needle 22 shown in FIGS. 2C-D is beveled at itstip which is formed with an opening 704. In some examples, the openingmay be formed at the tip at a plane extending parallel to the horizonalaxis x 2 and the transverse axis x 3 (3A). In some examples, as seen inFIG. 18 , a needle 22B is enclosed at its tip, which may be flat,triangled or any other shape. An opening 708 is formed at a side of theneedle 22B. When the needle 22B is inserted into bore 700, the opening708 at the side is positioned to face the bore 700, thereby furtherenclosing and possibly insolating the needle 22B by the syringe-septum20B. It is noted that needle 22B may be used with the syringe-septum 20of FIG. 2C.

In some embodiments, the syringe-septum 20B may be formed with a partialor full circumferential recess 710 within the body of the syringe-septum20B. Recess 710 is dimensioned and configured to be supported by lateralprotrusions 714 projecting medially from the connector 50C.

FIGS. 19A-C are illustrations of a syringe connector 50C, which isanother example of the syringe connector 50 shown in FIGS. 2A-15C. Thesyringe connector 50C may be identical to syringe connector 50 yet maycomprise another example of the sleeve. In the syringe connector 50shown in FIGS. 2A-15C the sleeve 58 has a peripheral wall (i.e. theexternal wall 140 of the syringe connector 50) which extends to theradial stop 164 or to the distal end 60 of the sleeve 58, therebyenclosing the syringe-septum subsurface portion 190 (2C) in the lumen ofthe sleeve 58. As seen in FIGS. 19A-C, a peripheral wall 720 of a sleeve58C extends from the body member 52 and terminates at a distal edge 722of the peripheral wall 720. The peripheral wall distal edge 722 isaxially spaced away from the septum subsurface portion 190 and a gap 728is formed therebetween, such that the septum subsurface portion 190 isunenclosed by the syringe connector 20.

The radial stop 164 may be supported by any suitable means, such as viaone or one or more beams 730 connecting the peripheral wall 720 to amounting portion 734 formed on sleeve 58C, configured for mounting theseptum subsurface portion 190 thereon. The beams 730 may comprise twooppositely facing beams 730 such that the mounting portion 734 extendsalong a plane perpendicular to the longitudinal axis Lx 1 in between thetwo oppositely facing beams 730. The mounting portion 734 may be formedwith a recess for allowing a needle 22 or 22C to extend therethrough.

FIGS. 20A and 20B are each a graph showing the velocity and current of afirst manipulator in a first robotic pharmaceutical preparation system,constructed and operative according to an example of the presentlydisclosed subject matter (20A) and a second manipulator in a second,conventional robotic pharmaceutical preparation system (20B), duringsome operational stages for transferring the fluid between a syringeassembly and a container.

As seen in FIGS. 20A and 20B, upper graphs 800A and 800B show thevelocity Vs. time of the respective first and second manipulator. Thelower graphs 802A and 802B show the current Vs. time of the respectivefirst and second manipulator.

It is to be understood herein that manipulator is operated by a motorthat consumes power for operating the manipulator. The current in thegraphs signifies the power consumption of the motor, which in turnsignifies the force applied by the manipulator on the fluid transferassembly. The velocity in the graphs signifies the effective velocity ofthe manipulator and/or the fluid transfer assembly. For instance, themanipulator includes the gripping arm and the engaging arm that movestogether as well as independently and relative to each other. Thevelocity of the manipulator is intended to signify the velocity of themoving part. In other words, the velocity at a particular time signifiesthe velocity of the component of the fluid transfer assembly that ismoving at that particular time or the part of the manipulator that ismoving at that particular time. Therefore, it is to be understood thatthe velocity is zero only when no part of the manipulator is effectivelymoving. Similarly, the force applied by the manipulator on the fluidtransfer assembly signifies the effective force applied by themanipulator. For instance, the manipulator includes the gripping arm andthe engaging arm that applies force on the fluid transfer assembly. Theforce signifies the net force applied by the manipulator.

FIG. 20A shows the velocity and current related to the firstmanipulator, which may comprise any type of manipulator, such as amanipulator described herein in reference to FIGS. 1A-19C or amanipulator falling within the scope of the present subject matter inview of the general description of various examples of the manipulatorprovided herein.

As described hereinabove in reference to FIGS. 1A-19C, the firstmanipulator may comprise two or more arms, such as the gripping arm andthe engaging arm. During transferring of the fluid there are operationalstages when both the griping arm and the engaging arm move. At suchoperational stages the velocity depicted in the graph 800A shows thevelocity of both arms (e.g. from Point A to B where both the engagingarm and the gripping arm move together, herein referred to aspositioning stage).

There are other operational stages when only one arm is in movement andthe other arm is stationary. At such operational stages the velocitydepicted in graph 800A shows the velocity of the moving arm (e.g. afterPoint C until the engaging is moved again to move the syringe assemblyaway from the container). Accordingly, it is appreciated that though thedescription of the velocity in graph 800A generally refers to thevelocity of the first manipulator, only one of the arms may be in actualmovement.

In a non-limiting example, introducing the needle into the container bythe first manipulator may include some of the operational stagesdescribed in reference to FIGS. 6A-10C, where the container comprises avial and FIG. 12A-14 , where the container comprises an IV bag.

At Point A of FIG. 20A, the graphs 800A and 802A show the velocity andcurrent, respectively, as the first manipulator grabs the first syringeassembly (as described for example as the first initial stage ofoperation and shown for example at FIGS. 6A-C). In between Points A andB, the first manipulator, while gripping the first syringe assembly,starts advancing towards the container for bringing the syringe-septuminto contact with the container-septum (as described for example as thesecond stage of operation and shown at FIGS. 7A-C) thereby positioningthe syringe assembly by manipulating it through a positioning stage.

From points A to B, the velocity and the current initially oscillate,yet nearing point B when the first manipulator reaches a steady state,they assume a generally constant degree of velocity and current.

The force applied on the first syringe assembly intermediate Points A toB may be referred to as the variable positioning force (also referred toas a variable positioning force), and its measure is depicted by graph802A of the current.

In a non-limiting example, the magnitude of the current at Point A iszero and at Point B it rises to about 4 Amperes. The magnitude of thevelocity at Point A is zero and at Point B it rises to about 10millimeters per second. It is appreciated that the actual numericalvalue of the magnitude of current is shown by way of example and canvary in different fluid transfer systems, yet the trend of graph 802A issubstantially the same in the different types of fluid transfer systemscomprising the first manipulator.

At Point B the graphs 800A and 802A show the velocity and current,respectively, at the initial contact of the syringe-septum with thecontainer-septum, causing the first manipulator to cease its movementand the velocity to drop to zero immediately after point B. In someexamples, as described herein, the first manipulator comprises apressing mechanism configured to ensure a predetermined compressionthreshold between the container-septum and the syringe-septum is reachedbefore needle extension through the syringe-septum and thecontainer-septum. It is noted that the pressing mechanism may includethe pressing mechanism 330 described hereinabove, which may comprise thecontact securing mechanism.

Thus, the first manipulator remains substantially stationary, as seen ingraph 800A between Points B and C, where the velocity is shown toinitially drop to zero value and then generally is maintained at thezero value.

Between points B and C, the velocity first falls to and then remains atzero even though the current increases. This portion signifies that thecontact between the septum is secured by the manipulator after bringingthe septa in contact at point B. Thus, the portion of the graph afterpoint B signifies a contact securing stage where the manipulator securesthe contact between the septa. It can be seen from the graph that theforce continuously increases through almost whole of the contactsecuring stage until the completion of the transfer of fluid.

At point C, a predetermined threshold force required to deform theresisting member (for example compress the spring 334) is reached andthus the gripping arm starts moving towards the engaging arm therebyincreasing the velocity. Point D is a variable point where according toan example the contact between the septa can be said to have beensecured, or in other words, the compression threshold has been met.Point D can vary in different examples based on the compressionthreshold intended. Thus, the stage between point B and D is referred toas contact-securing stage and the force applied therethrough is referredto as variable securing force. Although the compression threshold is metat point D, the force keeps on increasing to continue further securingthe contact throughout the fluid transfer process. In some examples, theforce can be made constant after point D.

It is to be noted herein that although the force (signified by thecurrent) keeps on increasing after B, however it is only at point C, thegripping arm starts moving towards the engaging arm thereby causing thecollapsing of the syringe connector. Thus, the portion of the graphstarting from point C and until the connector is fully collapsed isreferred to as the collapsing stage and the force applied therethroughis referred to as the variable collapsing force. The contact securingstage and the collapsing stage overlap with each other at least betweenpoints C and D.

In a non-limiting example, the magnitude of the current at around PointC oscillates around 5 Amperes, e.g. in the range of 4.5-6.5 Amperes. Themagnitude of the velocity at Point C oscillates around 10 millimetersper second e.g. in the range of 9.5-11 millimeters per second.

Following Point C, the magnitude of the compression force may be equalto the predetermined compression threshold or may further increase. Thecurrent is shown to increase passing Point D, indicating that thecompression force is increased.

In a non-limiting example, the magnitude of the current at around PointD is about 6 Amperes. The magnitude of the velocity at Point D is about10 millimeters per second.

From Points D to E the current and hence the force further increases,causing the spring to continue to compress and the first manipulator tocontinue the collapsing of the connector. In the examples without theneedle or with needle not penetrating, the compression force keeps onuniformly increasing until the collapsing is complete. In theillustrated examples (with the needle penetrating into the container),at point E, the tip of the needle arrives at the contact point of thesepta. In order to penetrate the tip into the container septum, themanipulator increases the force rapidly after point E until point 804where the tip penetrates into the container through the containerseptum. The portion of the graph between point E and point 804 isreferred to as the penetration stage and the force applied therethroughas the variable penetration force.

In some examples, as described in reference to FIG. 3F, a sensor (e.g.sensor 358) may be provided to detect the reaching of the predeterminedcompression threshold. The sensor is configured to generate a signalindicative thereof. The signal from the sensor may be detected andtransmitted at the time of Point C whereupon the spring commenced itscompression.

Turning again to Points B to E at the time when the compression force isapplied, the current and hence the compression force, generallycontinuously increase, while the velocity remains at a generallyconstant level. In some examples, as shown in FIG. 20A, the compressionforce, or at least a portion thereof, generally gradually increaseforming a graph with a substantially linear upward incline.

In a non-limiting example, the magnitude of the current at around PointE is about 7 Amperes. The magnitude of the velocity at Point E is about10 millimeters per second.

As the needle penetrates the container-septum, following Point E, thefirst manipulator may experience perturbance to its movement from thecontainer-septum, causing the velocity to oscillate around the constantvelocity level. To return the velocity to its constant level, thecurrent and hence the operational force are increased. Eventually,towards Point F the velocity returns to its constant level.

Between Point F to G, the needle is further extended to protrude out ofthe container-septum into the container for performing the fluidtransfer.

In a non-limiting example, the magnitude of the current at around PointF is a bit less than 8 Amperes. The magnitude of the velocity at Point Fis about 10 millimeters per second.

At Point G, the first manipulator is configured to terminate itsadvancement and thus the needle is not extended furthermore into thecontainer. It can be seen that the force keeps on increasing during thepenetration stage thereby continuing securing of the contact as well ascausing collapsing of the connector. Thus, the penetration stageoverlaps with the contact securing stage and the collapsing stage.

In some examples, such as where a sensor is provided, the controllerunit may be operative to terminate the advancement of the firstmanipulator once the needle is extended to a predetermined length.Measuring the predetermined length may commence when the signal providedby the sensor (for example at point C) is received by the controllerunit.

In a non-limiting example, the magnitude of the current at around PointG is a bit more than 8 Amperes. The magnitude of the velocity at Point Gis about 10 Millimeters per second.

In between Points G and H, the velocity and current levels drop to zero,as seen at Point H.

By comparing the magnitude of the force depicted by the current graphfrom Points A to G, it is seen that:

-   a minimum value of the variable penetration force (804) is greater    than a maximum value of the variable positioning force (806),-   the variable collapsing force increases continuously at least during    a portion of the collapsing stage,-   the variable collapsing force increases continuously at least during    a portion of the collapsing stage prior to commencement of the    penetration stage,-   an initial value of the variable collapsing force (point C) is    greater than the maximum value of the variable positioning force    (806),-   the variable securing force increases at least prior to the    commencement of the collapsing stage,-   an initial value of the variable collapsing force (point C) is    greater than an initial value of the variable securing force (point    B),-   the variable collapsing force increases continuously at least during    a majority of the collapsing stage,-   an initial value of the variable penetration force (point E) is    greater than an initial value of the variable collapsing force    (point C),-   a minimum value of the variable collapsing force is greater than a    maximum value of the variable positioning force,-   a maximal magnitude of the penetration force, e.g. shown at location    814, is greater than a minimal magnitude of the positioning force,    e.g. shown at location 816.

Now turning to FIG. 20B, the velocity and current related to the secondmanipulator is shown. The second manipulator may comprise a conventionalmanipulator typically operative to extend the second syringe assembly,which may comprise a syringe without a syringe-septum. The needle of thesecond syringe assembly is extended into a container through thecontainer-septum. The container may include a vial and thecontainer-septum may comprise the conventional septum of a commerciallyavailable container, such as the preexisting rubber closure of the vial.It is noted that by way of comparison the operational stages occurringat Points A-H in FIG. 20A are shown in FIG. 20B, mutatis mutandis.

At Point A of FIG. 20B, the graphs 800B and 802B show the velocity andcurrent, respectively, as the second manipulator grabs the secondsyringe assembly. In between Points A and E, the second manipulator,while gripping the second syringe assembly, starts advancing towards thecontainer for bringing the needle into contact with thecontainer-septum. The force applied on the second syringe assemblyintermediate Points A to E may be referred to as the conventionalinitial force.

From Points A to E, the velocity and the current initially oscillate,yet nearing Point E when the second manipulator reaches a steady state,they assume a generally constant degree of velocity and current.

In a non-limiting example, the magnitude of the current at Point A iszero rising to a generally constant current of 4 Amperes and remainingso until reaching Point E. The magnitude of the velocity at Point A iszero rising to a generally constant velocity of 10 millimeters persecond and remaining so until reaching Point E.

The conventional robotic pharmaceutical preparation system is notcontrolled by the controller unit for allowing the needle to extendthrough the syringe-septum to the container-septum only after thepredetermined compression threshold force is applied. Accordingly,Points B, C and D in graphs 800A and 802A of FIG. 20A do not appear ingraphs 800B and 802B of FIG. 20B and the second manipulator is notconfigured to apply a compression force on the second syringe assembly.

Between Points E and G, a conventional operational force is applied onthe second syringe assembly for extending the needle, i.e. by pushingthe needle for penetrating the container-septum and extending thereoutinto the container.

As the needle penetrates the container-septum, following Point E, thesecond manipulator may experience perturbance to its movement from thecontainer-septum, causing the velocity to oscillate around the constantvelocity level. To return the velocity to its constant level, thecurrent and hence the conventional operational force are increased.Eventually, towards Point F the velocity returns to its constant level.As seen in FIG. 20B, the current and hence the conventional operationalforce returns to its constant level, as well.

Between Points F to G, the needle is further extended to protrude out ofthe container-septum into the container for performing the fluidtransfer.

In a non-limiting example, the magnitude of the current at around PointF is about 4 Amperes. The magnitude of the velocity at Point F is about10 millimeters per second.

At Point G, the second manipulator is configured to terminate itsadvancement and thus the needle is not extended furthermore into thecontainer.

In a non-limiting example, the magnitude of the current at around PointG is about 4 Amperes. The magnitude of the velocity at Point G is about10 Millimeters per second.

In between Points G and H, the velocity and current levels drop to zero,as seen at Point H.

By comparing the magnitude of the conventional initial force, depictedby the current graph from Points A to E, with the magnitude of theconventional operational force, depicted by the current graph fromPoints E to G, it is seen that at least a portion of the conventionaloperational force is the same as at least a portion of the conventionalinitial force.

Furthermore, by comparing the trend of the current graph 802A with thecurrent graph 802B it is evident that the trend of current graph 802Aincreases and may increase gradually and linearly and the trend of graph802B is generally constant. Accordingly, it is evident that theoperational force applied by the first manipulator on the first syringeassembly is greater than the initial force and the compression force.The conventional operational force applied by the second manipulator onthe second syringe assembly is generally the same and generally remainsat a constant level. Further in reference to FIGS. 20A and 20B it isnoted that the current is applied on the respective first and secondmanipulator by its respective first and second motor.

In the second conventional robotic pharmaceutical preparation system,and in some examples in the first robotic pharmaceutical preparationsystem as well, the first and second motors each comprise a motor shaftoperable to cause the movement of the respective first and secondmanipulator. The first and second motors each comprise an encoderoperable to detect the position of the motor shaft and to transmit asignal indictive thereof. The controller unit of each of the first andsecond robotic pharmaceutical preparation systems is configured toreceive the position signal from the encoder and control the respectivefirst and second motor based on the position signal. The spatialposition of the needle tip can be derived based on the position signalfrom the encoder indicating the position of the motor shaft.

The movement of the first and second manipulator is facilitated by therespective first and second motor configured to variably consume powerfor operating the respective first and second manipulator. The powerconsumption may be measured by the current applied by the motor on themanipulator, as shown for example at graph 802A in FIG. 20A depictingthe current applied by the first motor on the first manipulator.

In some examples, the controller unit of the first roboticpharmaceutical preparation system is configured to control the operationof the first manipulator by monitoring the power consumption of thefirst motor, which in turn facilitates the movement of the firstmanipulator. Optionally, the controller unit is configured to controlthe first manipulator based on the encoder position signal combined withthe control based on the power consumption of the first motor.

In some examples, monitoring the power consumption of the first motorcomprises predetermining at least one of an upper and lower range ofpower consumption, as shown by respective upper and lower lines 820 and822 in FIG. 20A. During operation, the controller unit is configured todetect if the actual (namely measured in real-time) power consumptionhas deviated from the predetermined range 820 and/or 822. The controllerunit may be configured to generate an alert indicating that the actualpower consumption has deviated from the predetermined range. Theresponse to the alert may comprise any suitable response to remedy thedeviation from the predetermined power consumption, such as thecontroller unit being configured to cease the operation of the firstmotor, or such as the controller unit may be configured to adjust thepower consumption so as to return the actual power consumption to thepredetermined range.

Monitoring and/or controlling the first manipulator based on the encoderposition signal is a conventional method. Yet at times may suffer frominaccuracies since the motor shaft or other parts of the firstmanipulator may be unstable, and accordingly may cause the positionsignal to be inaccurate. Monitoring and/or controlling the firstmanipulator based on the power consumption, alternatively or incombination with monitoring and/or controlling based on the encoderposition signal, enhances the accuracy of the signals provided to thecontroller unit. Accordingly, the controller unit is enabled to operatethe first manipulator with increased accuracy.

Accordingly, the operation of the first manipulator and any one or moreof its arms (e.g. the gripping arm 234, the engaging arm 238 and/or theplunger arm 244) and the syringe assembly 18 may be monitored andverified based on a combination of the encoder position signal (namelythe position of the motor shaft) and the power consumption, therebyproviding a method for highly accurately closing a control loop on thefirst manipulator.

In some examples, the controller unit 30 may be configured to cause theneedle 22 (at its tip) to extend within the container 14 to apredetermined extent. The predetermined extent may be determined in anysuitable manner:

In a non-limiting example, the predetermined needle extent may bedetermined by detection of an event, such as an event describedhereinabove in reference to FIGS. 3C-F. Upon detection of the event, thecontroller unit 30 is operative to cause the needle 22 to advance to thepredetermined extent, an extent which may be stored in the memoryassociated with the controller unit and may be subject to the needlelength.

Monitoring and verifying that the needle 22 has extended to itspredetermined length may be performed in any suitable manner. In someexamples, the needle extent (namely the spatial position of the needletip) may be verified by the encoder, which is operable to indicate theposition of the motor shaft. The position of the motor shaft is anindication of the position of the needle 22 (since the arms of themanipulator, moved by the motor shaft, grip the syringe assembly, whichcomprises the needle 22).

In another example, the needle extent may be monitored and verifiedbased on the power consumption, performed by comparing a detected actualpower consumption with a predetermined range or value of the powerconsumption, typically stored in the memory, associated with thecontroller unit 30.

In another example, the needle extent may be monitored and verifiedbased on a combination of the encoder position signal (namely theposition of the motor shaft) and the power consumption, therebyproviding a method for highly accurately closing a control loop on theneedle extent.

Reference is now made to FIGS. 21A and 21B illustrating a fluid transferstation 10′ of a robotic pharmaceutical preparation system 12′,constructed and operative according to an example of the presentlydisclosed subject matter. The robotic system 12′ is configured to beoperable transfer of fluid between a container and a fluid transferassembly in a similar manner as described above for the robotic system12, and includes a controller unit (not shown) and a manipulatorcontrollable by the controller unit corresponding to those of therobotic system 12. Also, the robotic system 12′ includes a gripping armand engaging arm corresponding to those of the robotic system 12. Themanipulator has been generally designated as 32′, the gripping arm as234′, and the engaging arm as 238′. Additionally, the manipulator 32′includes a supporting arm 239′ for supporting a supporting portion ofthe fluid transfer assembly at least prior to the gripping arm grippingthe gripping portion of the fluid transfer assembly.

In the illustrated example, the fluid transfer assembly has been shownto be syringe assembly 18′, and it is to be understood herein that thefluid transfer assembly can according to any example thereof describedherein.

The gripping arm 234′ and the engaging arm 238′ can be configured toperform all or some of the operations of the gripping arm 234 andengaging arm 238 of the robotic system 12 described above. Thesupporting arm 239′ is configured for hanging the syringe assembly 18′thereon before the gripping arm 234′ and/or the engaging arm 238′ holdsthe syringe assembly 18′. For instance, prior to initiation of theoperation of the manipulator, the syringe assembly 18′ can be hanged onthe supporting arm 239′ and therefrom the gripping arm 234′ and/or theengaging arm 238′ can grab the syringe assembly 18′. The manipulator 32′comprises a body 33′ and the supporting arm 239′ projects outwardly fromthe body 33′. The supporting arm 239′ is stationary with respect to thebody member 33′, and the gripping arm 234′ and/or the engaging arm 238′are movable with respect to the supporting arm 239′. The supporting arm239′ is stationary with respect to an injection axis along which thetransfer of fluid takes place.

While various inventive examples have been described and illustratedherein, those of ordinary skill in the art will readily envision avariety of other means, materials, or structure for performing thefunction, obtaining the results, or one or more of the advantagesdescribed herein, and each of such variations or modifications is deemedto be within the scope of the inventive examples described herein. Moregenerally, those skilled in the art will readily appreciate that allparameters, dimensions, materials, and configurations described hereinare meant to be for example only and that the actual parameters,dimensions, materials, and configurations will depend upon the specificapplication or applications for which the inventive teachings is/areused. Those skilled in the art will recognize or be able to ascertainusing no more than routine experimentation, many equivalents to thespecific inventive examples described herein. It is, therefore, to beunderstood that the foregoing examples are presented by way of exampleonly and that, within the scope of the appended claims, equivalentsthereto, and any claims supported by the present disclosure, inventiveexamples may be practiced otherwise than as specifically described andclaimed. Inventive examples of the present disclosure are directed toeach individual feature, system, article, material, composition, kit,method, and step, described herein. In addition, any combination of twoor more such features, systems, articles, materials, compositions, kits,methods, and steps, if such features, systems, articles, materials,compositions, kits, methods, and steps, are not mutually inconsistent,is included within the inventive scope of the present disclosure.

Examples disclosed herein may also be combined with one or morefeatures, functionality, or materials, as well as complete systems,devices or methods, to yield yet other examples and inventions.Moreover, some examples, may be distinguishable from the prior art byspecifically lacking one and/or another feature disclosed in theparticular prior art reference(s); i.e., claims to some examples may bedistinguishable from the prior art by including one or more negativelimitations.

Also, as noted, various inventive concepts may be embodied as one ormore methods, of which an example has been provided. The acts performedas part of the method may be ordered in any suitable way. Accordingly,examples may be constructed in which acts are performed in an orderdifferent than illustrated, which may include performing some actssimultaneously, even though shown as sequential acts in illustrativeexamples.

Any and all references to publications or other documents, including butnot limited to, patents, patent applications, articles, webpages, books,etc., presented anywhere in the present application, are hereinincorporated by reference in their entirety. Moreover, all definitions,as defined and used herein, should be understood to control overdictionary definitions, definitions in documents incorporated byreference, and ordinary meanings of the defined terms.

The indefinite articles “a” and “an,” as used herein in thespecification and in the claims, unless clearly indicated to thecontrary, should be understood to mean “at least one.”

The phrase “and/or,” as used herein in the specification and in theclaims, should be understood to mean “either or both” of the elements soconjoined, i.e., elements that are conjunctively present in some casesand disjunctively present in other cases. Multiple elements listed with“and/or” should be construed in the same fashion, i.e., “one or more” ofthe elements so conjoined. Other elements may optionally be presentother than the elements specifically identified by the “and/or” clause,whether related or unrelated to those elements specifically identified.Thus, as a non-limiting example, a reference to “A and/or B”, when usedin conjunction with open-ended language such as “comprising” can refer,in one example, to A only (optionally including elements other than B);in another example, to B only (optionally including elements other thanA); in yet another example, to both A and B (optionally including otherelements); etc.

As used herein in the specification and in the claims, “or” should beunderstood to have the same meaning as “and/or” as defined above. Forexample, when separating items in a list, “or” or “and/or” shall beinterpreted as being inclusive, i.e., the inclusion of at least one, butalso including more than one, of a number or list of elements, and,optionally, additional unlisted items. Only terms clearly indicated tothe contrary, such as “only one of′ or “exactly one of,” or, when usedin the claims, “consisting of,” will refer to the inclusion of exactlyone element of a number or list of elements. In general, the term “or”as used herein shall only be interpreted as indicating exclusivealternatives (i.e. “one or the other but not both”) when preceded byterms of exclusivity, such as “either,” “one of,” “only one of,” or“exactly one of.” “Consisting essentially of,” when used in the claims,shall have its ordinary meaning as used in the field of patent law.

As used herein in the specification and in the claims, the phrase “atleast one,” in reference to a list of one or more elements, should beunderstood to mean at least one element selected from any one or more ofthe elements in the list of elements, but not necessarily including atleast one of each and every element specifically listed within the listof elements and not excluding any combinations of elements in the listof elements. This definition also allows that elements may optionally bepresent other than the elements specifically identified within the listof elements to which the phrase “at least one” refers, whether relatedor unrelated to those elements specifically identified. Thus, as anon-limiting example, “at least one of A and B” (or, equivalently, “atleast one of A or B,” or, equivalently “at least one of A and/or B”) canrefer, in one example, to at least one, optionally including more thanone, A, with no B present (and optionally including elements other thanB); in another example, to at least one, optionally including more thanone, B, with no A present (and optionally including elements other thanA); in yet another example, to at least one, optionally including morethan one, A, and at least one, optionally including more than one, B(and optionally including other elements); etc.

In the claims, as well as in the specification above, all transitionalphrases such as “comprising,” “including,” “carrying,” “having,”“containing,” “involving,” “holding,” “composed of,” and the like are tobe understood to be open-ended, i.e., to mean including but not limitedto. Only the transitional phrases “consisting of” and “consistingessentially of” shall be closed or semi-closed transitional phrases,respectively.

Although various example embodiments have been described in detailherein, however, in view of the present disclosure many modificationsare possible in the example embodiments without materially departingfrom the concepts of present disclosure. Accordingly, any suchmodifications are intended to be included in the scope of thisdisclosure. Likewise, while the disclosure herein contains many specificcombinations, these specific combinations should not be construed aslimiting the scope of the disclosure or of any of the appended claims,but are provided as a description pertinent to one or more specificembodiments that may fall within the scope of the disclosure and theappended claims. Any described features from the various embodimentsdisclosed may be employed in combination with other disclosedembodiments. In addition, other embodiments of the present disclosuremay also be devised which lie within the scopes of the disclosure andthe appended claims.

This disclosure provides various examples, embodiments, and featureswhich, unless expressly stated or which would be mutually exclusive,should be understood to be combinable with other examples, embodiments,or features described herein.

1. A fluid transfer connector, comprising: a body member couplable to afluid transfer unit at a unit coupling portion, the body member beingshaped to define a body lumen; a fluid transfer conduit extendingaxially from the unit coupling portion into the body lumen, the fluidtransfer conduit being configured to establish fluid communication withthe fluid transfer unit when the fluid transfer unit is coupled to theunit coupling portion; a sleeve arranged coaxially relative to the bodymember; a fluid transfer connector septum mounted at a distal end of thesleeve, the sleeve and the body member being configured to move relativeto each other between an extended position and a collapsed position; anda locking mechanism configured to switch between a locked state and anunlocked state for selectively enabling and preventing the relativemovement of the sleeve and the body member, wherein the lockingmechanism is configured to enable the relative movement between thesleeve and the body member from the extended position to the collapsedposition upon activation of an actuator accessible through an externalwall of the fluid transfer connector.
 2. The fluid transfer connectoraccording to claim 1, wherein the actuator comprises an internalportion, disposed at least partially within one of the sleeve and thebody member, and an actuation portion which is accessible via an openingformed on the other one of the sleeve and the body member, and whereinapplication of a radial force on the actuation portion induces actuationof the locking mechanism at least from the locked state to the unlockedstate for facilitating the movement of the body member with respect tothe sleeve at least from the extended position to the collapsedposition.
 3. The fluid transfer connector according to claim 1, whereinthe external wall of the fluid transfer connector comprises a protectivesurface configured to prevent manual access to the actuator.
 4. Thefluid transfer connector according to claim 2, wherein the external wallof the fluid transfer connector comprises a protective surfaceconfigured to prevent manual access to the actuator, the protectivesurface comprising one or more protection elements surrounding theopening.
 5. The fluid transfer connector according to claim 1, wherein afluid transfer connector inner surface is configured for axial, slidablemovement of the actuator therealong for facilitating the movementbetween the extended position and the collapsed position.
 6. The fluidtransfer connector according to claim 5, wherein the actuator isconfigured: to be pressable by a radial force, thereby switching fromthe locked state to the unlocked state at the extended position; and forsubsequent slidable axial movement along the inner surface fortransitioning from the extended position to the collapsed position. 7.The fluid transfer connector according to claim 1, wherein the fluidtransfer connector septum comprises a throughgoing bore extending from aseptum proximal surface to a septum distal surface and dimensioned forreceiving the fluid transfer conduit.
 8. The fluid transfer connectoraccording to claim 1, wherein the external wall of the fluid transferconnector comprises a peripheral wall of the sleeve and terminates at adistal edge of the peripheral wall, said peripheral wall distal edgebeing axially spaced away from a mounting portion of the sleeve forminga gap therebetween, said sleeve mounting portion configured to mount thefluid transfer connector septum thereon.
 9. The fluid transfer connectoraccording to claim 8, wherein the peripheral wall is connected to themounting portion via one or more beams.
 10. The fluid transfer connectoraccording to claim 9, wherein the fluid transfer connector has alongitudinal axis and the one or more beams comprise two oppositelyfacing beams such that the septum mounting portion extends along a planeperpendicular to the longitudinal axis in between the two oppositelyfacing beams.
 11. A fluid transfer connector, comprising: a body membercouplable to a fluid transfer unit at a unit coupling portion, the bodymember being shaped to define a body lumen; a fluid transfer conduitextending axially from the unit coupling portion into the body lumen,the fluid transfer unit being configured to establish fluidcommunication with the fluid transfer unit when the fluid transfer unitis coupled to the unit coupling portion; a sleeve arranged coaxiallyrelative to the body member; a fluid transfer connector septum mountedat a distal end of the sleeve, the sleeve and the body member beingconfigured to move relative to each other between an extended positionand a collapsed position; and a locking mechanism configured to switchbetween a locked state and an unlocked state for selectively enablingand preventing the relative movement of the sleeve and the body member,wherein the locking mechanism is configured to enable the relativemovement between the sleeve and the body member from the extendedposition to the collapsed position upon activation of an actuator,wherein said actuator is actuatable irrespective of an axial forceapplied onto the fluid transfer connector septum.
 12. The fluid transferconnector according to claim 11, wherein said actuator is actuatableirrespective of the axial force applied onto the fluid transferconnector septum by a container septum.
 13. The fluid transfer connectoraccording to claim 11, wherein said actuator is accessible through anexternal wall of the fluid transfer connector.
 14. The fluid transferconnector according to claim 11, wherein the actuator is actuatable byapplication of a radial force thereon.
 15. The fluid transfer connectoraccording to claim 11, wherein the actuator comprises an internalportion, disposed at least partially within one of the sleeve and thebody member, and an actuation portion which is accessible via an openingformed on the other one of the sleeve and the body member, and whereinapplication of a radial force on the actuation portion induces actuationof the locking mechanism at least from the locked state to the unlockedstate for facilitating the movement of the body member with respect tothe sleeve at least from the extended position to the collapsedposition.
 16. The fluid transfer connector according to claim 11,wherein an external wall of the fluid transfer connector comprises aprotective surface configured to prevent manual access to the actuator.17. The fluid transfer connector according to claim 15, wherein anexternal wall of the fluid transfer connector comprises a protectivesurface configured to prevent manual access to the actuator, theprotective surface comprising one or more protection elementssurrounding the opening.
 18. The fluid transfer connector according toclaim 11, wherein a fluid transfer connector inner surface is configuredfor axial, slidable movement of the actuator therealong for facilitatingthe movement between the extended position and the collapsed position.19. The fluid transfer connector according to claim 18, wherein theactuator is configured: to be pressable by a radial force, therebyswitching from the locked state to the unlocked state at the extendedposition; and for subsequent slidable axial movement along the innersurface for transitioning from the extended position to the collapsedposition.
 20. The fluid transfer connector according to claim 11,wherein the fluid transfer connector septum comprises a throughgoingbore extending from a septum proximal surface to a septum distal surfaceand dimensioned for receiving the fluid transfer conduit.
 21. The fluidtransfer connector according to claim 11, wherein the fluid transferconnector septum is formed as a monolith.
 22. The fluid transferconnector according to claim 11, wherein an external wall of the fluidtransfer connector comprises a peripheral wall of the sleeve andterminates at a distal edge of the peripheral wall, said peripheral walldistal edge being axially spaced away from a mounting portion of thesleeve forming a gap therebetween, said sleeve mounting portionconfigured to mount the fluid transfer connector septum thereon.
 23. Thefluid transfer connector according to claim 22, wherein the peripheralwall is connected to the mounting portion via one or more beams.
 24. Thefluid transfer connector according to claim 23, wherein the fluidtransfer connector has a longitudinal axis and the one or more beamscomprise two oppositely facing beams such that the septum mountingportion extends along a plane perpendicular to the longitudinal axis inbetween the two oppositely facing beams.
 25. The fluid transferconnector according to claim 11, wherein the locking mechanism isconfigured to prevent manual access to the actuator.
 26. A fluidtransfer connector, comprising: a body member couplable to a fluidtransfer unit at a unit coupling portion, the body member being shapedto define a body lumen comprising a longitudinal axis of the fluidtransfer connector; a fluid transfer conduit extending axially from theunit coupling portion into the body lumen, the fluid transfer unit beingconfigured to establish fluid communication with the fluid transfer unitwhen the fluid transfer unit is coupled to the unit coupling portion; asleeve arranged coaxially relative to the body member and comprising afluid transfer connector septum mounted at a distal end of the sleeve,the sleeve and the body member being configured to move relative to eachother between an extended position and a collapsed position; and alocking mechanism configured to switch between a locked state and anunlocked state for selectively enabling and preventing the relativemovement of the sleeve and the body member, wherein the lockingmechanism in its locked state is configured to prevent the relativemovement between the sleeve and the body member from the extendedposition to the collapsed position by an axial force applied on at leastone of the body member and the sleeve in a direction parallel to thelongitudinal axis.
 27. The fluid transfer connector according to claim26, wherein the locking mechanism is configured to switch from thelocked state to the unlocked state upon application of a radial forceapplied thereon in a direction perpendicular to the longitudinal axis,and to enable in its unlocked state the relative movement of the sleeveand the body member.
 28. The fluid transfer connector according to claim26, wherein the locking mechanism comprises an actuator configured toprevent the locking mechanism from switching into its unlocked statefrom the locked state in response to said axial force.
 29. The fluidtransfer connector according to claim 28, wherein the actuator isconfigured to switch the locking mechanism from the locked state intothe unlocked state in response to a radial force being applied thereon.30. The fluid transfer connector according to claim 28, wherein theactuator comprises a lockable member and one of the sleeve and the bodymember comprises a locking member configured to selectively engage thelockable member in the locked state of the locking mechanism, saidlockable member being at least one of: configured to prevent its releasefrom the locking member by said axial force; and configured to bereleasable from the locking member in response to said radial force.